6-UCU并联机器人轨迹规划研究
Nonlinear Control Method of Electro-Hydraulic Servo System
艾新锁 1李岸1
作者信息
- 1. 沈阳工业大学机械工程学院,辽宁 沈阳 110870
- 折叠
摘要
针对并联机器人笛卡尔空间内位姿插补的轨迹规划问题,设计了一种基于S型速度曲线的笛卡尔空间直线、圆弧与四元数相结合的位姿插补算法.归纳了采用数值法求解6-UCU并联机器人反解的计算步骤,分别对直线、圆弧的位置插补以及基于四元数的姿态插补进行数学推导;分析了7段S型的速度策略,并利用归一化时间算子的方式求出了位置插补与姿态插补相结合的齐次变换矩阵;通过Simulink进行仿真验证.结果表明:该算法可以成功被应用在并联机器人上,运用该算法的并联机器人动平台的几何中心点速度、加速度均满足S型加减速变化规律.该算法能够降低对并联机器人末端执行器的机械柔性冲击.
Abstract
For the trajectory planning problem of positional interpolation in Cartesian space for parallel robots,this paper designs a positional interpolation algorithm based on the combination of straight line,circular arc and quaternion in Cartesian space with S-shaped velocity curve.First,this paper summarizes the computational steps for solving the inverse solution of the 6-UCU parallel robot by numerical method;then the mathematical derivation of the position interpolation of straight line and circular arc and the attitude interpolation based on quaternions are carried out respectively,after which the velocity strategy of 7-segment S-shape is analyzed and the chi-square transformation matrix of the combined position interpolation and attitude interpolation is derived by using the normalized time operator;finally,the simulation is verified by Simulink The results show that the algorithm can be successfully applied to the parallel robot;the geometric center point velocity and acceleration of the parallel robot moving platform with the algorithm satisfy the S-shape acceleration and deceleration variation law;the algorithm can reduce the mechanical flexibility impact on the end-effector of the parallel robot.
关键词
并联机器人/轨迹规划/S型速度曲线/四元数/SimulinkKey words
parallel robot/trajectory planning/s-shaped velocity profile/quaternion/Simulink引用本文复制引用
出版年
2024
NETL
NSTL
万方数据