[1]李振娜,王涛,王斌锐,等.基于带约束S型速度曲线的机械手笛卡尔空间轨迹规划[J].智能系统学报,2019,14(04):655-661.[doi:10.11992/tis.201806025]
 LI Zhenna,WANG Tao,WANG Binrui,et al.Trajectory planning for manipulator in Cartesian space based on constrained S-curve velocity[J].CAAI Transactions on Intelligent Systems,2019,14(04):655-661.[doi:10.11992/tis.201806025]
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基于带约束S型速度曲线的机械手笛卡尔空间轨迹规划(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第14卷
期数:
2019年04期
页码:
655-661
栏目:
出版日期:
2019-07-02

文章信息/Info

Title:
Trajectory planning for manipulator in Cartesian space based on constrained S-curve velocity
作者:
李振娜 王涛 王斌锐 郭振武 陈迪剑
中国计量大学 机电工程学院, 浙江 杭州 310018
Author(s):
LI Zhenna WANG Tao WANG Binrui GUO Zhenwu CHEN Dijian
College of Mechanical and Electrical Engineering, China Jiling University, Hangzhou 310018, China
关键词:
机械手笛卡尔空间S型速度曲线路径长度约束轨迹规划插补算法四元数弧长增量法
Keywords:
manipulatorCartesian spaceS-curve velocitypath length constrainttrajectory planninginterpolation algorithmquaternionarc length increment
分类号:
TP242
DOI:
10.11992/tis.201806025
摘要:
针对机械手在笛卡尔空间中轨迹规划问题,设计基于S型速度曲线的空间直线和空间圆弧插补算法。增加路径长度约束,将S型速度规划分为七段式、六段式、五段式和四段式4种类型;建立基于四元数的直线与圆弧运动的位姿模型,并采用弧长增量法插补技术实现轨迹规划。在六自由度机械手实时控制平台上进行了实验验证。结果表明:该算法可实现在路径长度约束下速度和加速度的自动调整;该算法可保证机械手末端加速度连续,有效减少冲击。
Abstract:
To solve the problem of trajectory planning for manipulator in Cartesian coordinate, a space line and arc interpolation algorithm is designed based on the S-type velocity curve. By increasing the path length constraint, the S-type speed planning is divided into four types:seven-segment, six-segment, five-segment, and four-segment. A pose model of quaternion-based linear and circular movements is established, and the arc length increment interpolation technology is used to achieve trajectory planning. Experimental verification was performed on a real-time control platform of a six-degrees-of-freedom manipulator. The results show that the algorithm can automatically adjust the speed and acceleration under the path length constraint and ensure continuous acceleration at the end of the manipulator, and therefore reduces the impact effectively.

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备注/Memo

备注/Memo:
收稿日期:2018-06-11。
基金项目:国家重点研发计划项目(2017YFC0804609).
作者简介:李振娜,女,1993 年生,硕士研究生,主要研究方向为协作机器人碰撞感知及轨迹规划;王涛,男,1992 年生,硕士研究生,主要研究方向为工业机器人轨迹规划;王斌锐,男,1978 年生,教授,主要研究方向为仿生机器人及智能控制。主持国家级、省部级科研项目5项,已授权发明专利40余项。发表学术论文110余篇。
通讯作者:陈迪剑.E-mail:djchen@cjlu.edu.cn
更新日期/Last Update: 2019-08-25