Robot Pose Synchronization Trajectory Planning Method Based on Time Optimization
In order to improve the operating efficiency of industrial robots in the workspace,a time-optimal trajectory planning method to achieve pose synchronization in Cartesian space is proposed.This method u-ses cubic uniform B-spline curves to perform pose-synchronous path interpolation on the end path points of the robot;with the optimization goal of reducing the movement time,under the condition of satisfying the joint kinematics constraints,linear programming is used to analyze the discrete Cartesian The space-parame-terized trajectory performs reverse and forward recursion to solve the phase plane diagram of the path pa-rameters.Based on the phase plane graph of the path parameters,the joint velocity is calculated through the Jacobian matrix for time-optimal velocity planning.Experimental verification of the proposed method is car-ried out,and the results show that the method achieves the optimal time under the premise of satisfying the actual motion performance of the robot.
NETL
NSTL
万方数据
维普
