一种基于多项式插值曲线和自适应迭代的力矩和推力约束轨迹规划方法

IF 5.4 2区 工程技术 Q2 ENGINEERING, MANUFACTURING
Yifei Hu , Ming Sang , Huawei Duan
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引用次数: 0

摘要

提出了一种基于自适应迭代的工业机器人轨迹规划方法。该方法的核心是在遵守运动学和动力学约束的情况下,构造一个保守的速度曲线,迭代地增加可行的速度曲线。在该方法中,给出了一个多项式轮廓来实现相邻路径点之间的平滑速度转换,有效地模拟了加减速过程。在此多项式曲线的基础上,构造了一条由加速、匀速和减速三个阶段组成的保守速度曲线。采用等分法确定了等速阶段的速度和加减速阶段所涉及的路径点数。随后,按照构建保守速度曲线的相同方法,增大保守速度曲线或前一速度曲线的等速阶段的速度。这一过程不断重复,直到所有等速阶段的路径点数量低于给定的阈值。该方法可以在六自由度机械臂的复杂几何路径上实现,同时满足所有的运动学和动力学约束。与基于凸优化的比较方法相比,该方法可将遍历时间减少6.06%,计算时间减少77.4%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A novel trajectory planning approach with torque and jerk constraints based on polynomial interpolation profile and adaptive iteration
This paper presents a novel adaptive iteration approach to trajectory planning for industrial robots, with bounded torque and jerk. The core of this approach is to construct a conservative velocity curve and iteratively increase the feasible velocity curve while adhering to kinematic and dynamic constraints. In this approach, a polynomial profile is given to achieve smooth velocity transitions between adjacent path points, effectively modeling the acceleration and deceleration processes. Based on this polynomial profile, a conservative velocity curve consisting of three stages—acceleration, constant velocity, and deceleration—is constructed. The velocity in the constant velocity stage and the number of path points involved in the acceleration and deceleration stages are determined using the bisection method. Subsequently, the velocity in the constant velocity stage of the conservative or the previous velocity curve is increased following the same way that constructs the conservative velocity curve. This process is repeated until the number of path points in all constant velocity stages is below a given threshold. The proposed approach can be implemented on complex geometric paths of a 6-DOF manipulator while satisfying all kinematic and dynamic constraints. Compared to the comparison method based on convex optimization, the proposed method can reduce the traversing time by 6.06 % and the computation time by 77.4 %.
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来源期刊
CIRP Journal of Manufacturing Science and Technology
CIRP Journal of Manufacturing Science and Technology Engineering-Industrial and Manufacturing Engineering
CiteScore
9.10
自引率
6.20%
发文量
166
审稿时长
63 days
期刊介绍: The CIRP Journal of Manufacturing Science and Technology (CIRP-JMST) publishes fundamental papers on manufacturing processes, production equipment and automation, product design, manufacturing systems and production organisations up to the level of the production networks, including all the related technical, human and economic factors. Preference is given to contributions describing research results whose feasibility has been demonstrated either in a laboratory or in the industrial praxis. Case studies and review papers on specific issues in manufacturing science and technology are equally encouraged.
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