基于加速度约束的Delta机器人动态可行域时间最优速度规划OA北大核心CSTPCD

Using a Delta robot in a high-speed transportation environment has the advantages of low working efficiency and poor stability.We propose a dynamic feasible region velocity planning method with acceleration constraints based on time-optimal trajectory planning(TOPP-RA)and reachability analysis to solve time-optimal velocity planning under dynamic constraints.We adjust the global grid point velocity planning of TOPP-RA to the local grid point dynamic velocity plan-ning,eliminate the bias torque of the Delta robot dynamic model,convert the torque constraint into an acceleration constraint,achieve self-adjusting acceleration,and complete the dynamic feasible region velocity planning.Experiments show that dynamic feasible region velocity planning can a-chieve global optimal results with a single solution of only 0.015 s,and safe,stable,and efficient time-optimal control of the robot under joint torque constraints through acceleration self-adjust-ment.