基于改进的颠簸曲线的非对称 S 曲线轨迹规划

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-04-29 DOI:10.1017/s0263574724000031
Chol Jun Han, Kwang Rim Song, Un-Ryong Rim
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引用次数: 0

摘要

本文提出了一种规划机器人机械手扩展 S 曲线轨迹的方法,以最大限度地减少执行时间,并在点对点运动的减速阶段实现更平滑的轨迹生成。在片状 sigmoid 函数中添加了一个非对称参数,以改善挺举曲线。这种非对称曲线是连续和无限可微的。在此基础上,提出了两种分析算法。一种算法用于确定在运动学约束条件下满足时间最优性的合适轨迹时间间隔,另一种算法用于确定产生最短执行时间的非对称参数。此外,还给出了所有关节的时标同步计算程序,以减少执行器上不必要的负载。在运动的两个端点,关节和末端执行器的速度、加速度、颠簸和快度(颠簸的导数)都等于零。3 DOF 和 6 DOF 机械手的仿真结果表明,我们的方法在减少总执行时间的同时,有效降低了减速阶段的颠簸和卡滞。此外,对单 DOF 质量-弹簧-阻尼系统的分析表明,在速度、加速度和颠簸分别限制为 1.24 m/s、6 m/s2 和 80 m/s3 且位移设置为 0.8m 的情况下,残余振动可比基准技术减少 10%。这些结果表明,减少残余振动的性能良好,并证明了所提出的轮廓适合点对点运动的一个重要特征。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An asymmetric S-curve trajectory planning based on an improved jerk profile

In this paper, a method of planning the expanded S-curve trajectory of robotic manipulators is proposed to minimize the execution time as well as to achieve the smoother trajectory generation in the deceleration stage for point-to-point motions. An asymmetric parameter is added to the piecewise sigmoid function for an improved jerk profile. This asymmetric profile is continuous and infinitely differentiable. Based on this profile, two analytical algorithms are presented. One is applied to determine the suitable time intervals of trajectory satisfying the time optimality under the kinematic constraints, and the other is to determine the asymmetric parameter generating the minimum execution time. Also, the calculation procedure for the time-scaled synchronization for all joints is given to decrease unnecessary loads onto the actuators. The velocity, acceleration, jerk and snap (the derivative of jerk) of the joints and the end-effector are equal to zero at two end points of motion. The simulation results through 3 DOF and 6 DOF robotic manipulators show that our approach reduces the jerk and snap of the deceleration stage effectively while decreasing the total execution time. Also, the analysis for a single DOF mass-spring-damper system indicates that the residual vibration could be reduced to 10% more than the benchmark techniques in case velocity, acceleration and jerk are limited to 1.24 m/s, 6 m/s2 and 80 m/s3, respectively and displacement is set to 0.8m. These results manifest that the performance of reducing residual vibrations is good and demonstrate an important characteristic of the proposed profile suitable for point-to-point motion.

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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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