为具有连续颠簸和恒定平均加速度的机器人机械手生成时间最优多点轨迹

IF 5.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Weiguang Yu , Daokui Qu , Fang Xu , Lei Zhang , Fengshan Zou , Zhenjun Du
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引用次数: 0

摘要

为满足机器人机械手高速、高精度的应用需求,本文提出了一种具有连续颠簸和恒定平均加速度的时间最优多点轨迹规划方法。为了实现整个运动曲线的颠簸连续性,本文开发了一种片状正弦颠簸模型。将这一复杂模型等效转换为简单的梯形速度模型,有效降低了计算复杂度,确保了实时规划的可靠性。通过引入一个名为轨迹平滑系数的参数,可以方便地权衡速度和平滑的优先级。峰值颠簸的自适应计算算法使得任何长度的路径都能获得恒定的平均加速度,从而确保了无论路径控制点的密度如何,都能达到一致的工作效率水平。通过对每种潜在轮廓类型的关键约束条件进行综合评估,单关节时间最优规划问题和多关节时间同步规划问题均以闭合形式求解。此外,通过设计多关节多点速度前瞻策略,实现了机器人机械手的时间最优多点轨迹规划。在机械手上进行的仿真和实验结果证明了所提出的方法在提高时间效率方面的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Time-optimal multi-point trajectory generation for robotic manipulators with continuous jerk and constant average acceleration
To meet the demands of high-speed and high-accuracy applications of robotic manipulators, this paper proposes a time-optimal multi-point trajectory planning method with continuous jerk and constant average acceleration. A piecewise sine jerk model is developed for jerk continuity throughout the entire motion profile. An equivalent transformation of this complex model into the simple trapezoidal velocity model is proposed, effectively reducing the computational complexity and ensuring the reliability of real-time planning. The introduction of a parameter, named the trajectory smoothness coefficient, allows for a convenient trade-off between the priorities of speed and smoothness. The adaptive computation algorithm for peak jerk results in a constant average acceleration along paths of any length, ensuring a consistent level of work efficiency regardless of the density of path control points. Through a comprehensive evaluation of the critical constraints for each potential profile type, the single joint’s time-optimal and multiple joints’ time-synchronized planning problems are solved with closed-form solutions. Furthermore, by designing a multi-joint multi-point velocity look-ahead strategy, time-optimal multi-point trajectory planning for robotic manipulators is realized. Simulation and experimental results on a manipulator demonstrate the effectiveness of the proposed approach in improving time efficiency.
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来源期刊
Control Engineering Practice
Control Engineering Practice 工程技术-工程:电子与电气
CiteScore
9.20
自引率
12.20%
发文量
183
审稿时长
44 days
期刊介绍: Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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