轻工机械2024，Vol.42Issue(3)：29-36,8.DOI:10.3969/j.issn.1005-2895.2024.03.005
基于傅里叶级数展开的码垛机器人轨迹规划
Trajectory Planning of Palletizing Robot Based on Fourier Series Expansion
摘要
Abstract
To solve the problems of excessive impact and low efficiency in conventional polynomial curve planning caused by frequent start and stop during the operation of palletizing robots,with the SP-120 series palletizing robots as the research object,the D-H coordinate system for the robot was established by using an improved D-H method,and the forward and inverse kinematic solution was analyzed.A trajectory planning method based on Fourier series expansion was used for point-to-point continuous trajectory planning from the starting point to the target point,and simulation analysis was carried out with MATLAB software.The simulation results show that the angular displacement,angular velocity and angular acceleration curves of each joint based on Fourier series expansion are continuous and stable,and the running trajectory of workspace is smooth,the problem of excessive impact under palletizing conditions.Compared with the quintic polynomial interpolation algorithm,a larger peak angular velocity and a constant peak angular acceleration are obtained,which solves the problem of low efficiency of conventional polynomial curve planning..关键词
码垛机器人/轨迹规划/傅里叶级数展开/改进D-H法/轨迹插值算法Key words
palletizing robot/trajectory planning/Fourier series expansion/improved D-H method/trajectory interpolation algorithm分类
信息技术与安全科学引用本文复制引用
徐志祥,卢保良,杨傲,熊浩杰..基于傅里叶级数展开的码垛机器人轨迹规划[J].轻工机械,2024,42(3):29-36,8.基金项目
大连市揭榜挂帅科技攻关项目(2022YJ11SN00103). （2022YJ11SN00103）
