机器人轨迹规划方法研究-机械电子工程专业论文.docxVIP

机器人轨迹规划方法研究摘 机器人轨迹规划方法研究 摘 要 轨迹规划对机器人高效、稳定的运行有重要影响，通过轨迹规划 使机器人运动平滑、平稳，减少冲击和振动，提高机器人的稳定性、 可靠性、工作效率有重要意义。本论文以实验室开发的三自由度机械 臂为研究对象，深入研究了基于关节空间的轨迹规划方法。 在本论文中，将组合曲线、非对称化以及连续ierk函数的概念引 入到轨迹规划中来，并通过分析和研究几种具体的组合曲线，指出了 关节空间轨迹规划的基本原则和衡量轨迹规划曲线特性的主要指标， 提出了轨迹规划曲线的高阶导数要连续，同时要保证使规划出的曲线 不仅要保证位移、速度、加速度连续，而且还能保证冲击连续。 本文使用Pro／Engineer软件对所在实验室开发的三自由度机械臂 进行了三维造型设计，使用Matlab软件对轨迹规划好的机器人运动 进行仿真，用Visual C++软件编写机器人控制软件，并结合三自由度 机械臂实验平台验证了轨迹规划得到的组合曲线是切实可行和有效 的。 关键词：机器人轨迹规划组合曲线非对称冲击 THE THE RESEARCH OF ROBOT’S TRAJECTORY PLANNING ABSTRACT Trajectory Planning has quite important effects for robot’S high efficient and stable motion．Though trajectory planning，robot can not only motion stably,but also avoid vibration and impact．It is quite significant to improve the robot’S stability,reliability and work efficiency．The robot studied in this thesis is a 3-DOF manipulator which iS developed by our 1aboratory．The methods of traj ectory planning based on j oint space are profoundly studied． In this paper,combined curve、asymmetry and continuous j erk curve are first adopted to traj ectory planning．Through research and analysis of several combined curves，pointed out the basic principles of trajectory planning in joint space and the key indicators to measure characteristic curve of traj ectory planning． At the same time，The higher derivative of traj ectory planning curve should be continued．The di splacement，velocity and acceleration of traj ectory planning curve a】so should be continued． 3一DOF manipulator had been developed．Machinery,hardware and software of 3．DOF manipulator had been developed．Matlab was used to do simulation analysis of the combined curve，Pro／Engineer was used to do mechanical design， and Visual C++was used to prepare PC contr01 software．The experimental platform which was composed of 3-DOF manipulator and vibration teaching system used to verification combined curve．At 1ast．the experimental results show that the means which are proposed in this paper are feasible and effective． Key wo