Trajectory Planning of Manipulator Based on Decomposition Interpolation and Corner Smoothing
In order to achieve the goal of high-speed and high-precision machining of industrial manipulator,a trajectory planning method based on decomposition interpolation and controllable comer smoothing was proposed.The problems existing in the joint coordi-nate system interpolation of industrial manipulator were studied,and the necessity of trajectory interpolation in workpiece coordinate sys-tem was analyzed.Then,a workpiece coordinate interpolation method based on decomposition method was proposed.The position com-mand was decomposed into Cartesian coordinates and the attitude command was decomposed into spherical coordinates to realize trajec-tory interpolation in the workspace and high-precision linear trajectory was generated.A new kinematic controllable comer smoothing strategy was proposed to generate a smooth trajectory by using a 3-segment constant acceleration curve at the corner of the joint space,the resulting comer error could be controlled by changing the corner duration.Finally,a multi-stage tool path test was carried out on a 6DOF manipulator.The research results show that the proposed method can effectively realize the linear motion of the tool within 3.886 s with an error of 0.01 mm,and generate a smooth trajectory at each corner within the self-defined tolerance of 0.5 mm,thus realizing the high-speed and high-precision machining of the manipulator.
万方数据
维普
