Exploring Jerk Bounded and Continuous PTP Motion Trajectory Planning
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摘要: 针对SCARA机器人高速PTP运动时的轨迹跟随误差和力矩突变问题，提出两种关节空间加加速度连续有界的PTP运动轨迹规划方法。分别通过关节空间的九次多项式和三角函数两种形式进行PTP轨迹规划，保证规划的轨迹速度、加速度在限定范围内，加加速度值连续且有界。实验表明，相比较梯形速度曲线，三角函数和9次多项式的PTP轨迹规划分别将关节空间轨迹跟随误差降低了0.16°和0.33°，轨迹跟随的定位时间明显减小，关节驱动力矩的突变、振荡情况得到有效的改善。Abstract: Two different methods of joint-space jerk bounded and continuous PTP (point to point) motion trajectory planning is designed to solve the path tracking-error and torque oscillation problems when the SCARA(selective compliance assembly robot arm) manipulator runs in high-speed PTP motion. We use the nine-order polynomial and trigonometric functions respectively to plan the PTP motion trajectory, both of which ensure that the velocity and acceleration are limited to a certain range and that the jerk is bounded and continuous. The experimental results show that the trajectory planned with the trigonometric function and the polynomial function reduces the tracking error by 0.16° and 0.33°compared with the trapezoid velocity curve, leading to a shorter positioning time for path tracking. Furthermore, the method proposed in the paper effectively solves the torque oscillation problem.
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Key words:
- SCARA /
- PTP motion /
- trajectory planning /
- tracking error /
- torque oscillation
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表 1 关节1轨迹规划性能对比
轨迹规划方式 给定时间/s 定位时间/s 跟随误差/(°) 梯形速度曲线 0.498 0.042 4.30 三角函数曲线 0.525 0.018 4.14 9次多项式曲线 0.540 0.018 3.97 
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表 2 关节2轨迹规划性能对比
轨迹规划方式 给定时间/s 定位时间/s 跟随误差/(°) 梯形速度曲线 0.498 0.03 2.39 三角函数曲线 0.528 0.09 2.30 9次多项式曲线 0.540 0.06 2.21
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