工业机器人轨迹规划研究现状综述

龙樟; 李显涛; 帅涛; 温飞娟; 冯文荣; 梁春平

doi:10.13433/j.cnki.1003-8728.20200132

工业机器人轨迹规划研究现状综述

doi: 10.13433/j.cnki.1003-8728.20200132

龙樟^{1, 2,},
李显涛¹,
帅涛¹,
温飞娟^{1, 2},
冯文荣^{1, 2},
梁春平^{1, 2}

1.
西南石油大学工程学院, 四川南充 637000
2.
西南石油大学机器人工程与智能制造南充市重点实验室, 四川南充 637000

基金项目:

南充市市校科技战略合作项目 18SXHZ0008

南充市市校科技战略合作项目 19SXHZ0041

西南石油大学课外开放实验重点项目 NKSZ19005

详细信息

作者简介:
龙樟(1992-), 助教, 硕士研究生, 研究方向为机器人技术, longzhang@swpu.edu.cn

中图分类号: TP242
计量
- 文章访问数: 360
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- PDF下载量: 302
- 被引次数: 0
出版历程
- 收稿日期: 2020-02-22
- 刊出日期: 2021-06-01

Review of Research State of Trajectory Planning for Industrial Robots

LONG Zhang^{1, 2
,},
LI Xiantao¹,
SHUAI Tao¹,
WEN Feijuan^{1, 2},
FENG Wenrong^{1, 2},
LIANG Chunping^{1, 2}

1.
School of Engineering, Southwest Petroleum University, Nanchong 637000, Sichuan, China
2.
Nanchong Key Laboratory of Robotics Engineering and Intelligent Manufacturing, Southwest Petroleum University, Nanchong 637000, Sichuan, China

摘要

摘要: 凭借良好的环境适应性、高效率、高生产质量以及7×24工作模式, 工业机器人广泛地应用于喷涂、焊接、码垛、搬运等自动化生产中。轨迹规划是工业机器人完成作业任务运动控制的基础, 直接决定了机器人工作质量。为了全面了解轨迹规划现有研究方法, 首先阐述了轨迹规划的基本流程, 根据轨迹规划的原理不同对现有轨迹规划方法进行了分类, 并分别对各种插补曲线函数、最优轨迹规划以及求解算法的性能特点进行了详细的分析与总结。最后对轨迹规划在插补曲线构造和求解算法方面的现存问题做出了分析和讨论, 并展望了轨迹规划的发展趋势。
- 工业机器人 /
- 轨迹规划 /
- 最优轨迹 /
- 曲线插补
Abstract: With good environmental adaptability, high efficiency, high production quality and 7×24 working mode, industrial robots are widely used in the automated manufacturing such as spraying, welding, palletizing and handling. Trajectory planning is the basis for the motion control of the industrial robot to complete the task, and directly determines the quality of the robot's work. In order to fully understand the current research methods of trajectory planning, the basic process of trajectory planning is firstly expounded, and the existing trajectory planning methods is classified in terms of the different principles. The performance characteristics of the interpolation curve functions, optimal trajectory planning and solving algorithm are analyzed and summarized in detail. Finally, the existing problems of the trajectory planning for constructing the interpolation curve and the solving algorithm are analyzed and discussed, and the developmental trend of trajectory planning is predicted.
- industrial robots /
- trajectory planning /
- optimal trajectory /
- curve interpolation

HTML全文

图 1 轨迹规划常规流程

下载: 全尺寸图片幻灯片

图 2 直线加减速规划位置、速度与加速度曲线

下载: 全尺寸图片幻灯片

表 1 关节空间与笛卡尔空间轨迹规划性能特点比较

规划空间	优点	缺点	适用场景
关节空间	计算简单、省时; 不会发生奇异现象; 计算量小^[19]。	所得轨迹不够直观; 机器人末端轨迹存在误差^[20]。	对机器人末端运动轨迹无特殊要求的场景, 如点焊工业机器人^[21]。
笛卡尔空间	直观, 能够直接看到机器人末端运动轨迹; 末端轨迹精度高、重复性好、可移植性好^[22]。	求逆解次数多、计算量大; 可能存在奇异点, 导致关节速度失控^[23]。	对机器人末端路径有特殊要求且精度要求高, 如喷涂机器人、弧焊机器人^[24]。

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