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计算机系统应用英文版:2014,23(9):219-223

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基于近似弧长参数化的机器人轨迹规划

郝卫东, 李君, 闫伟, 陈志丹, 梁卫鸽, 邓阳光

(桂林电子科技大学机电工程学院, 桂林 541004)

Trajectory Planning of Robot Based on Nearly Arc-Length Parameterize Curve

HAO Wei-Dong, LI Jun, YAN Wei, CHEN Zhi-Dan, LIANG Wei-Ge, DENG Yang-Guang

(Mechanical Engineering, Guilin University of Electronic Technology, Guilin 541004, China)

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Received:January 17, 2014 Revised:March 31, 2014

中文摘要: 主要研究了采用近似弧长参数化的插值方法进行关节式工业机器人的轨迹规划. 运用近似弧长参数化的插值方法将机器人末端轨迹参数曲线离散为等弧长的插值点序列，通过机器人逆向运动学求解各关节的位移点序列，采用极限的方法进行各关节速度和加速度规划. 这种轨迹规划方法可以避免关节空间的插值计算和雅克比矩阵的计算. 在matlab7.8 平台上，对近似弧长参数化的插值方法、轨迹规划及可行性验证进行了实例仿真，仿真结果表明该轨迹规划方法是可行的.

中文关键词: 关节式机器人轨迹规划弧长参数化线性有理函数 Mtlab 仿真

Abstract:This paper mainly studied the joint type arc length parametric industrial robot trajectory planning method. Using the approximation of the arc length parametric curve interpolation method to end the robot trajectory parameters for arc such as discrete interpolation point sequence, the displacement of each joint point by solving inverse kinematics of robot sequences adopts the method of the limit of velocity and acceleration of each joint planning. This method is effective to avoid the joint space interpolation calculation and jacobin matrix calculation. In matlab7.8 platforms, the instance simulation is carried out on the above theory. The simulation results show that the trajectory planning method is feasible.

keywords: web information extraction joint type robot trajectory planning arc length parametric linear rational function Mtlab simulation

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基金项目:2012 年广西研究生科研创新项目（YCSZ2012064）

引用文本：
郝卫东,李君,闫伟,陈志丹,梁卫鸽,邓阳光.基于近似弧长参数化的机器人轨迹规划.计算机系统应用,2014,23(9):219-223
HAO Wei-Dong,LI Jun,YAN Wei,CHEN Zhi-Dan,LIANG Wei-Ge,DENG Yang-Guang.Trajectory Planning of Robot Based on Nearly Arc-Length Parameterize Curve.COMPUTER SYSTEMS APPLICATIONS,2014,23(9):219-223

Author Name	Affiliation
HAO Wei-Dong	Mechanical Engineering, Guilin University of Electronic Technology, Guilin 541004, China
LI Jun	Mechanical Engineering, Guilin University of Electronic Technology, Guilin 541004, China
YAN Wei	Mechanical Engineering, Guilin University of Electronic Technology, Guilin 541004, China
CHEN Zhi-Dan	Mechanical Engineering, Guilin University of Electronic Technology, Guilin 541004, China
LIANG Wei-Ge	Mechanical Engineering, Guilin University of Electronic Technology, Guilin 541004, China
DENG Yang-Guang	Mechanical Engineering, Guilin University of Electronic Technology, Guilin 541004, China