中国机械工程2018，Vol.29Issue(12)：1460-1466,7.DOI:10.3969/j.issn.1004-132X.2018.12.012
基于混合插值的工业机器人关节轨迹规划算法
Joint Trajectory Planning Algorithm for Industrial Robots Based on Mixed Interpolation
摘要
Abstract
B-spline curves were widely used in trajectory planning of industrial robots in joint spaces due to the multi-order continuous derivative and local supporting characteristics.Derivative values of B-spline existed with sudden changes at the beginning and end positions,which might result in vibrations for industrial robots when starting and stopping.A new method to optimize interpolation of high order polyno-mials and B-splines was proposed herein,so the kinematics parameters of robot joints would be continu-ous and not mutational.Thus the robots may run more smoothly,the operations of the robot states are im-proved without increasing operating burden of the robot control systems.关键词
B样条插值/轨迹规划/混合插值优化/工业机器人/关节空间Key words
B-spline interpolation/trajectory planning/mixed interpolation optimization/industrial robot/joint space分类
信息技术与安全科学引用本文复制引用
韩江,谷涛涛,夏链,董方方..基于混合插值的工业机器人关节轨迹规划算法[J].中国机械工程,2018,29(12):1460-1466,7.基金项目
国家科技支撑计划资助项目(2015BAF26B01) （2015BAF26B01）
