Planning Trajectory of a Single Robot in a Coordinated System
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摘要: 以协调机制下的单机器人为对象,提出了一种基于相平面的时间优化轨迹规划方法。通过对路径参数化,将具有多关节的机器人运动转换为单自由度的具有几何约束的最终运动。通过引入关节力矩输入约束,分析了轨迹规划中的可行性区域。在构造的速度-路径相平面中,利用动态搜索的方法在具有可行最大加减速度条件下规划其时间优化轨迹。以Motoman-UP6为模型,将本文方法与时间最短的轨迹规划方法进行比较,仿真结果证明该方法虽不能得到绝对的时间最短轨迹,但可以减少加减速运动的切换次数,保证机器人运行的平稳性。Abstract: To plan the trajectory of a single robot working in a coordinated system,a time-optimal trajectory planning method based on velocity-path phase plane was presented. According to the path parameterization,the motion of the single robot with multiple joints was converted to the ultimate motion with only one DOF,which was constrained by geometrical path. By introducing the constraints of joint input torques,the admissible region of trajectory planning was studied. The dynamic search method was used in the velocity-path phase plane to plan the timeoptimal trajectory at the feasible maximum acceleration or deceleration. To compare with the existing time-minimal trajectory planning method,our time-optimal trajectory planning method was verified by simulating the MotomanUP6 robot; the simulation results show that our method can obtain the exact time-minimal solution and reduce the times of switching between acceleration and deceleration,thus improving the operating stability of the single robot
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