基于带约束S型速度曲线的机械手笛卡尔空间轨迹规划

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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:

manipulator; Cartesian space; S-curve velocity; path length constraint; trajectory planning; interpolation algorithm; quaternion; arc 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.