关键词: 机器人, 运动学模型, 动力学模型, 时间近似最优, 轨迹规划

Abstract:  In order to increase the speeds of the robot arms tracking the target trajectory, the target trajectory of the robots was re-planned. By introducing path parameters, constraints such as joint velocity and force/moment were transformed into constraints on trajectory parameters in the trajectory planning algorithm. The maximum velocity curves of path parameters under joint velocity and force/moment constraints were obtained respectively. The maximum velocity curves with multiple constraints were obtained by calculating the intersection of the above maximum velocity curves. In order to improve the computational efficiency of the algorithm, the fuzzy inference method was used to discretize the target trajectory to reduce the optimization scales, and the maximum velocity curves of the joint force/torque constraint were replaced by the velocity curves of the zero value acceleration curves multiplied by the proportional coefficient. The planned trajectory was modified through the speed feature point algorithm and the modification-target algorithm to ensure that the modified target trajectory meets the constraints of joint speed and force/torque, and the velocity curve is smooth. The trajectory planning experimental results shows that the trajectory planning algorithm have better planning performance for target trajectories of different complexity, and may obtain continuous and smooth time approximate optimal trajectories.

Key words: robot, kinematics model, dynamics model, time approximate optimal, trajectory planning