Asymmetric S-curve manipulator acceleration and deceleration control method based on Sigmoid function
Manipulator are widely used in manufacturing,assembly,handling,palletizing,etc.,and play an important role in improving productivity.In order to reduce the vibration and impact of the manipulator during movement and improve the efficiency of the robot trajectory execution,an asymmetric S-shaped curve acceleration and deceleration control method is proposed.A straight line is inserted into the double-segment Sigmoid function to form a kinematic curve with continuous acceleration.Solving parameters through particle swarm optimization algorithm,the curve parameters can be obtained without repeatedly confirming the existence of each time period.Using time synchronization and displacement synchronization methods in joint space and Cartesian space makes the motion trajectory of the robotic arm more coordinated and natural.The results show that under the same conditions,the proposed method has higher trajectory execution efficiency than the trigonometric function method and the acceleration is only 55%of the trigonometric function method.Compared with the trapezoidal speed curve,the motion trajectory planned by the proposed method can reduce residual vibration by 35.7%,verified the effectiveness of the proposed method.
manipulatorasymmetric S-shaped curvetrajectory planningSigmoid function
万方数据
维普
