CAJ | 학술논문

为了提高工业机器人的运动平稳性和快速性，保证机器人在走曲线时能够准确到达各示教点并且实现平滑过渡，提出一种基于关节空间样条的连续点位运动规划算法。以关节空间的单个轴为例，从一般三阶 S 曲线轨迹出发，为了保证规划得到的加速度不跳变以及样条曲线能够保形，在两个相邻示教点之间插入 n 个中间点，将一段轨迹分为 n＋1段，根据该关节起点和终点的位置、速度和加速度以及插入点位置、速度、加速度连续的边界条件，可以得到新的规划轨迹。最后通过实验比较验证，该规划算法能够快速实现过程点的准确到达并且加速度没有跳变、曲线能够保形，具有实际推广价值。
위료제고공업궤기인적운동평은성화쾌속성，보증궤기인재주곡선시능구준학도체각시교점병차실현평활과도，제출일충기우관절공간양조적련속점위운동규화산법。이관절공간적단개축위례，종일반삼계 S 곡선궤적출발，위료보증규화득도적가속도불도변이급양조곡선능구보형，재량개상린시교점지간삽입 n 개중간점，장일단궤적분위 n＋1단，근거해관절기점화종점적위치、속도화가속도이급삽입점위치、속도、가속도련속적변계조건，가이득도신적규화궤적。최후통과실험비교험증，해규화산법능구쾌속실현과정점적준학도체병차가속도몰유도변、곡선능구보형，구유실제추엄개치。
To improve the moving stationarity and rapidity of industrial robots and ensure its reachability to each teaching point and smooth transition,this paper presents a kind of continuous point to point motion planning algorithm based on splines in joint space.Take a single axis in joint space as an example,we can firstly analyzed the general third order S curve trajectory.In order to ensure the planning acceleration have no jump and the curve is conformal,we insertn intermediate points between two adjacent teaching points and therefore a section of the trajectory is divided inton+ 1 segments.According to these boundary condi-tions the position,velocity and acceleration of the start and the end points and their continuity at the inserted points,a new planned trajectory can be ob-tained.Finally,by the experimental verification, this planning algorithm can make the robot quickly and accurately reach the teaching points without acceleration jump and the curve conformal,and can be applied to practical situation.