六自由度机器手臂的运动轨迹插值研究-机械设计杂志社.docVIP

工业机器人的运动轨迹插值方法研究与分析 赵川，张鹏超，潘晓磊，吕海立 （陕西理工学院 陕西省工业自动化重点实验室，陕西 汉中723000） 摘要：为了实现工业机器人手臂末端执行件在作业过程中的运动轨迹平稳、光滑且连续，同时关节运动轨迹中的速度、加速度变化光滑连续，且变化过程中不出现突变情况。基于NACHI的MZ07六自由度工业机器人，对其进行逆运动求解，在关节空间中，对过路径点的三次多项式、高阶多项式的插值算法进行研究与仿真。就仿真结果,在过路径点的点到点（PTP）运动中采用三次与五次多项式结合的“353”多项式插值算法，并通过仿真结果，证明了“353”多项式插值能使各关节加速度变化得到平稳轨迹，并且降低了使用五次多项式插值后关节较高的最大加速度，使加速度变化更加的平稳，减少了机构冲击。 关键字：工业机器人；MATLAB；轨迹插值；多项式插值 中图分类号：TP2422 文献标识码：A Industrial Robot Trajectory Interpolation Method Of Research And Analysis ZHAO Chuan，ZHANG Peng-chao,PAN Xiao-lei,LV hai-li (Shaanxi University of Technology,Shaanxi Province Key Laboratory of Industrial Automation,shaanxi Hanzhong 723000） Abstract: In order to achieve the end of the industrial robot arm to perform a smooth motion trajectory in the process of operation, smooth and continuous, at the same time, the velocity and acceleration in joint movement trajectory smooth continuous changes, changes dont appear in the process of mutation. six degrees of freedom based on NACHI MZ07 industrial robot, and solving inverse movement, in joint space, across the path points of cubic polynomial, the study of high order polynomial interpolation algorithm, and simulation.in view of the research and analysis results, in the point-to-point (PTP) movement is proposed that 353 polynomial interpolation algorithm that is using the combination of three and five times polynomial, and through the simulation, it proved that the 353 polynomial interpolation can make smooth trajectory of the changes in the acceleration of each joint, and reduces the use of five times polynomial interpolation after joint higher maximum acceleration, make the acceleration change is more stable, reduce the impact. Key words:Industrial robots;MATLAB;Track interpolation;Polynomial interpolation 引言： 轨迹规划对工业机器人能够高效、稳定的运动有重要的影响。机器人工作时必须保证运行轨迹的平滑。若各关节的速度和加速度突变或者不连续会在机器人工作过程中，加剧了机构的摩擦，机械臂出现振动现象，增加了轨迹跟踪误差，降低了跟踪精度，缩短了机器人的使用寿命。为此研究学者们提出了多项式插值、B样条曲线插值等插值方法，从而得到关节速度和加速度平稳、光滑且连续的轨迹。 本文