信息与控制2024，Vol.53Issue(4)：471-486,498,17.DOI:10.13976/j.cnki.xk.2024.3428
工业机器人轨迹规划的研究方法综述
Review of Research Methods for Industrial Robot Trajectory Planning
摘要
Abstract
Industrial robots have been popularly used in modern production because of the advantages of high efficiency,high production quality,and satisfactory environmental adaptability.The research on trajectory planning is the pillar of motion control for industrial robots and directly controls their work quality.To comprehend the research techniques of industrial robot trajectory planning thor-oughly,first,various existing research methods are categorized according to diverse planning spaces and optimization goals.Second,the characteristics and applicable fields of basic trajecto-ries,such as lines,arcs,and polynomial curves,are presented,and the methods for optimizing time,effect,and energy consumption,as well as the present challenges and limitations,are exam-ined and elaborated.Lastly,the conclusion is that multiobjective optimal trajectory planning based on actual working conditions,machine-learning-based trajectory planning,multirobot trajectory planning,dynamic obstacle avoidance in trajectory planning,real-time trajectory planning based on intelligent perception,and trajectory planning based on virtual reality technology will be the de-velopment trends of industrial robot trajectory planning research.关键词
工业机器人/基本轨迹规划/最优轨迹规划Key words
industrial robot/basic trajectory planning/optimal trajectory planning分类
信息技术与安全科学引用本文复制引用
曹锦旗,韩雪松..工业机器人轨迹规划的研究方法综述[J].信息与控制,2024,53(4):471-486,498,17.基金项目
天津市科技重大专项(18ZXRHNC00130) （18ZXRHNC00130）
