引用本文:王斌锐,王涛,李正刚,等.多路径段平滑过渡的自适应前瞻位姿插补算法[J].控制与决策,2019,34(6):1211-1218
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多路径段平滑过渡的自适应前瞻位姿插补算法
王斌锐1, 王涛1,2, 李正刚2, 陈立2, 陈迪剑1
(1. 中国计量大学机电工程学院,杭州310018;2. 杭州新松机器人自动化有限公司,杭州311200)
摘要:
任务空间多路径段平滑过渡可提高工业机器人的运动速度.在非对称S曲线加减速控制的路径长度约束下,以给定速度不为零的路径衔接点和半径调节参数为基准,根据路径段的长度变化,自适应前瞻规划出路径段间最优衔接速度,并在相邻路径段间采用圆弧进行平滑过渡,路径段全程采用非对称S曲线加减速控制.为提高算法的通用性,根据S曲线加减速区段函数的特点,对加速和减速区段函数进行优化.在6自由度工业机器人实时控制系统平台上进行实验验证,结果表明,与传统加减速控制算法相比,该前瞻算法的作业执行效率可提高22.03%以上,并可实现多路径段间速度的平滑过渡和轨迹的修形.
关键词:  工业机器人  路径平滑过渡  自适应前瞻  非对称S曲线  位姿插补  轨迹规划
DOI:10.13195/j.kzyjc.2017.1594
分类号:TP242
基金项目:国家自然科学基金项目(51575503);国家重点研发计划项目(2017YFC0804609).
An adaptive look-ahead position and orientation interpolation algorithm for multi-path segments smooth transition
WANG Bin-rui1,WANG Tao1,2,LI Zheng-gang2,CHEN Li2,CHEN Di-jian1
(1. College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China;2. Hangzhou SIASUN Robot & Automation Co., Ltd,Hangzhou 311200,China)
Abstract:
The velocity of industrial robots can be improved by multi-path smooth transition of task space. Under the path length constraint of the asymmetric S-curve acceleration/deceleration control, known path tansition points with non-zero velocity and the adjustable radius parameters are used as a reference to obtain optimized transition velocity between multi-path segments according to the changes of adjacent trajectory segments length, and arc smooth transition is used between adjacent path segments. The asymmetric S-curve acceleration/deceleration control is adopted for complete path segments. In order to improve the versatility of the algorithm, the velocity functions are simplified according to the characteristics of the S-curve acceleration/deceleration zone function. Experiments are carried out on the real-time control system platform of 6 degrees of freedom industrial robots. The results show that the efficiency of the algorithm can be improved by more than 22.03% compared with the traditional acceleration/deceleration control algorithm, and smooth transition of velocity and modification of trajectory between the multi-path segments can be realize.
Key words:  industrial robot  path smoothing transition  adaptive look-ahead  asymmetrical S-curve  position and orientation interpolation  trajectory planning

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