改进三次样条插值在机械臂轨迹规划中的应用

刘宝; 狄鑫; 韩丽华

doi:10.13433/j.cnki.1003-8728.20200196

改进三次样条插值在机械臂轨迹规划中的应用

doi: 10.13433/j.cnki.1003-8728.20200196

中国石油大学(华东) 控制科学与工程学院, 山东青岛 266580

基金项目:

国家自然科学基金重点项目 60534020

国家自然科学基金重点项目 60775052

中央高校基本科研基金项目 20CX05006A

山东省优秀中青年科学家科研奖励基金项目 BS2010DX038

详细信息

作者简介:
刘宝(1971-), 教授, 博士, 研究方向为人工智能优化技术、工业机器人运动规划技术, 15965425299@163.com

中图分类号: TP241
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- 文章访问数: 346
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- PDF下载量: 39
- 被引次数: 0
出版历程
- 收稿日期: 2020-01-20
- 刊出日期: 2021-10-09

Application of Improved Cubic Spline Interpolation in Trajectory Planning of Manipulator

College of Control Science and Engineering, China University of Petroleum(East China), Qingdao 266580, Shandong, China

摘要

摘要: 针对传统三次样条插值在机械臂轨迹规划过程中关节轴易产生残余振动的问题，提出了一种三阶导数连续的改进三次样条轨迹规划方法。该方法在每一个三次样条插值的分段区间内都加入了一个修正因子，在第一个分段区间内的修正因子是五次修正函数，使关节轴起始加速度为零，其余分段区间均为六次修正函数，使关节轴运动轨迹的三阶导数连续和终止位置的加速度为零。本文对六关节轴机械臂选取了20个节点进行轨迹规划仿真，结果表明改进的样条插值方法在机械臂轨迹规划中得到了连续的三阶导数轨迹，有效减小了关节轴的残余振动。
- 机械臂 /
- 三阶导数连续 /
- 加速度 /
- 轨迹规划 /
- 仿真
Abstract: Aiming at the problem that the joint axis is prone to residual vibration during the trajectory planning of the manipulator using traditional cubic spline interpolation, an improved cubic spline trajectory planning method with continuous third derivative is proposed. This interpolation method adds a correction factor to each cubic interval of cubic spline interpolation. The correction factor in the first segmented interval is a fifth-order function, which solves the problem that the joint′s initial acceleration is not zero. The remaining segmented intervals are all sixth-order functions, which solved the problem of discontinuous third derivatives and non-zero acceleration of the end position. This interpolation method is used to trajectory planning simulation of the six-joint axis manipulator with twenty nodes. The results show that the improved spline interpolation method obtains a continuous third derivative trajectory in the trajectory planning of the manipulator, which effectively reduces the residual vibration of the joint axis.
- manipulator /
- third derivative continuous /
- acceleration /
- trajectory planning /
- simulation

HTML全文

图 1 六关节轴机械臂模型示意图

下载: 全尺寸图片幻灯片

图 2 传统三次样条插值关节x关节角度、角速度、角加速度曲线图

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图 3 改进三次样条插值关节x关节角度、角速度、角加速度曲线图

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图 4 关节x关节轨迹的三阶导数插值对比图

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图 5 传统三次样条插值关节y关节角度、角速度、角加速度曲线图

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图 6 改进三次样条插值关节y关节角度、角速度、角加速度曲线图

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图 7 关节y关节轨迹的三阶导数插值对比图

下载: 全尺寸图片幻灯片

表 1 任意两关节的20个节点数据表

关节	节点
关节	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
x/(°)	-30	-20	50	30	70	110	150	-60	-70	80	90	20	-50	-100	-30	-60	-90	-10	50	70
y/(°)	-60	-100	-170	-60	-25	65	35	2	20	-60	-130	-80	-30	-15	-90	-40	20	100	120	160

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