Industrial robot running time periodization and model iterative optimization NURBS trajectory interpolation
Aiming to meet the needs of high-precision complex curve motion of industrial robots,industrial robot running time periodization and model iterative optimization NURBS trajectory interpolation is proposed.To begin with,the curve is segmented according to the maximum chord error of the trajectory and the dynamic characteristics of the robot.After that,an optimized backtracking algorithm is set out to make S-curve acceleration and deceleration planning available for each sub curve segment.In addition,in order to ensure the robot does not overspeed at the minimum feedrate,the running time of each acceleration and deceleration stage is adjusted to an integral multiple of the interpolation cycle,and the feedrate at the junction of sub curve segments is smoothened.In the end,the model iterative optimization curve interpolation is put forward,which considerably decreases the feedrate fluctuation.The simulation results show that all the parameters of the interpolation trajectory meet the requirements,and the maximum feedrate fluctuation is only 0.000099％.The real robot test also verifies that this method can effectively reduce the trajectory error.
industrial robotsNURBS curvesrunning time periodizationoptimized backtracking algorithmsmodel iterative optimization
万方数据
维普
