一种考虑关节跃度约束的实时刀具路径光顺算法

doi:10.3969/j.issn.1004-132X.2024.02.012

中国机械工程 ›› 2024, Vol. 35 ›› Issue (02): 280-286.DOI: 10.3969/j.issn.1004-132X.2024.02.012

一种考虑关节跃度约束的实时刀具路径光顺算法

杜煦1;常泽鑫1;郑军强2;任鹏飞1

1.浙江理工大学机械工程学院，杭州，310018
2.杭州电子科技大学机械工程学院，杭州，310018

出版日期:2024-02-25 发布日期:2024-04-12
通讯作者: 郑军强（通信作者），男，1986年生，讲师，硕士研究生导师。研究方向为机器人技术及其应用。发表论文11篇。E-mail:zhengjunqiang@hdu.edu.cn。
作者简介:杜煦，女，1986年生，副教授、硕士研究生导师。研究方向为数控加工技术与装备。发表论文14篇。E-mail:duxu@zstu.edu.cn。
基金资助:
国家自然科学基金（52005142）；国家重点研发计划（2022YFB3401900）;浙江省自然科学基金（LY21E050022）

A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints

DU Xu1;CHANG Zexin1;ZHENG Junqiang2;REN Pengfei1

1.School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou,310018
2.School of Mechanical Engineering,Hangzhou Dianzi University,Hangzhou,310018

Online:2024-02-25 Published:2024-04-12

摘要/Abstract

摘要： 针对机器人加工过程中关节跃度超过约束的问题，提出一种考虑机器人关节跃度约束的刀具路径光顺算法。采用有限冲激响应滤波器插值算法对五轴刀具路径进行光顺处理，一步完成了路径光顺和速度规划。建立了关节与刀具之间的速度、加速度和跃度关系，通过调整时间常数保证了关节跃度不超过约束。考虑机器人关节加速度约束后，该算法计算出的时间常数更小。仿真和实验结果表明该算法能减小关节的跟踪误差，提高机器人的工作稳定性。

关键词: 关节跃度约束, 五轴刀具路径光顺, 有限冲激响应滤波器插值, 机器人加工

Abstract: Aiming at the problems of joint jerk exceeding constraints in robot machining, a tool path smoothing algorithm was proposed considering joint jerk constraints. The FIR filter interpolation was used to smooth the five-axis tool paths. Path smoothing and speed planning were achieved in one step. The relationship of velocity, acceleration, and jerk between joint and tool was established, and the joint jerk did not exceed the constraint by adjusting the time constant. Time constant calculated by the proposed method was smaller than considering the acceleration constraints of robot joint. Simulation and experimental results show that the proposed algorithm may reduce the tracking error of the joint and improve the stability of the robot joint in machining.

Key words: , joint jerk constraint, five-axis tool path smoothing, finite impulse response(FIR) filter interpolation, robot machining

中图分类号:

TH161
TP242

杜煦, 常泽鑫, 郑军强, 任鹏飞. 一种考虑关节跃度约束的实时刀具路径光顺算法[J]. 中国机械工程, 2024, 35(02): 280-286.

DU Xu, CHANG Zexin, ZHENG Junqiang, REN Pengfei. A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints[J]. China Mechanical Engineering, 2024, 35(02): 280-286.

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链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2024.02.012

http://www.cmemo.org.cn/CN/Y2024/V35/I02/280

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一种考虑关节跃度约束的实时刀具路径光顺算法

A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints

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