大连理工大学学报2017，Vol.57Issue(2)：177-183,7.DOI:10.7511/dllgxb201702010
一种机器人最优加速度轨迹规划算法研究
Research on robot traj ectory planning algorithm with optimal acceleration
摘要
Abstract
In order to solve the problem of overrun in the process of robot debugging,a control method with optimal acceleration is proposed based on T type velocity curve under motion constraint. The dynamics performance of the palletizing robot is analyzed by using Lagrange method and the realization process of robot traj ectory planning algorithm is discussed.This algorithm makes full use of the driving performance of the driving j oint on the basis of smooth and stable movements. Compared with the traditional velocity curves,the control effect of the robot is significantly improved both in the single axis mode and the axis group mode.关键词
码垛机器人/动力学/轨迹规划/最优加速度Key words
palletizing robot/dynamics/traj ectory planning/optimal acceleration分类
机械制造引用本文复制引用
赵亮,仲崇权,郑飞翔..一种机器人最优加速度轨迹规划算法研究[J].大连理工大学学报,2017,57(2):177-183,7.基金项目
国家自然科学基金资助项目(61472062) （61472062）
中央高校基本科研业务费专项资金资助项目(DUT15ZD230,DUT16RC(4)20) （DUT15ZD230,DUT16RC(4）
国家科技支撑计划资助项目(2015BAF20B02). （2015BAF20B02）
