高技术通讯2018，Vol.28Issue(1)：78-82,5.DOI:10.3772/j.issn.1002-0470.2018.01.010
基于三次样条曲线的码垛机器人平滑轨迹规划方法
Smoothing trajectory planning for palletizing robots based on cubic spline curve
摘要
Abstract
Taking a hybrid cylindrical coordinate palletizing robot as the research object, the fast and stable trajectory planning for high speed palletizing robots in joint space is studied.Firstly,the trajectory planning is performed by using the cubic spline curve,and secondly,the smooth trajectory based on the cubic spline curve is obtained by es-tablishing the robot smooth trajectory optimization model with the approximation degree of the path point and the pa -rameter continuity of the trajectory curve.The simulation results show that optimal trajectory of the robot is different from the maximum fitting error,and thus verify the trajectory planning method can guarantee the kinematic stability and continuous and smooth trajectory of the palletizing robot,which can reduce the mechanical vibration generated during the acceleration or deceleration process.关键词
轨迹规划/三次样条曲线/平滑性/码垛机器人Key words
trajectory planning/cubic spline curve/smoothing/palletizing robot引用本文复制引用
张玲..基于三次样条曲线的码垛机器人平滑轨迹规划方法[J].高技术通讯,2018,28(1):78-82,5.基金项目
国家自然科学基金(61403053)资助项目. （61403053）
