CAJ | 학술논문

为在保证机器人运动轨迹的平滑性的条件下提高机器人工作效率，提出一种基于轨迹执行时间归一化处理的关节空间运动轨迹规划优化算法。对轨迹的执行时间进行归一化处理，分析关节空间位置、速度、加速度的运动轨迹相对于归一化时间的数学模型；考虑关节运动参数的约束条件，采用五次多项式拟合机器人在关节空间的运动轨迹，分析不同轨迹执行时间对关节位置运动轨迹的超调量的影响，实现机器人关节空间的位置轨迹优化；在M atlab环境里对机器人的运动轨迹进行仿真建模，完成机器人运动学仿真。多组仿真结果表明，该算法在保证机器人轨迹平滑的基础上，能保证轨迹执行时间最优，有效地提高机器人的运动效率。
위재보증궤기인운동궤적적평활성적조건하제고궤기인공작효솔，제출일충기우궤적집행시간귀일화처리적관절공간운동궤적규화우화산법。대궤적적집행시간진행귀일화처리，분석관절공간위치、속도、가속도적운동궤적상대우귀일화시간적수학모형；고필관절운동삼수적약속조건，채용오차다항식의합궤기인재관절공간적운동궤적，분석불동궤적집행시간대관절위치운동궤적적초조량적영향，실현궤기인관절공간적위치궤적우화；재M atlab배경리대궤기인적운동궤적진행방진건모，완성궤기인운동학방진。다조방진결과표명，해산법재보증궤기인궤적평활적기출상，능보증궤적집행시간최우，유효지제고궤기인적운동효솔。
To improve working efficiency of the robot on the premise of ensuring its smooth motion trajectory ,a trajectory plan‐ning optimization in joint space based on normalization method was proposed .Firstly ,the execution time of the robot movement was normalized ,and the mathematical models of position ,velocity ,acceleration motion curves were built .Then a fifth order pol‐ynomial was used for joint trajectory planning of the manipulator so as to fulfill the contrains of motion parameters .Moreover , since theoretical analysis illustrates that the execution time of the trajectory wields a lot of influence over the movements of the joints ,a position trajectory optimization algorithm was proposed to solve this problem .Finally ,simulations of the movement trajectories in Matlab were given to evaluate the performance of this optimizing method .Numerical simulation results indicate that the high‐performance of the optimized trajectory planning algorithm can generate smooth motion trajectories with the smal‐lest overshoot and the lowest energy consumption ,and produce effective enhancements on the productivity of the manipulator .