四川轻化工大学学报（自然科学版）2025，Vol.38Issue(1)：20-29,10.DOI:10.11863/j.suse.2025.01.03
基于"5-7-5"混合插值的机械臂轨迹优化方法研究
Research on Manipulator Trajectory Optimization Method Based on"5-7-5"Hybrid Interpolation
摘要
Abstract
In the engineering application of the manipulator,the position and pose constraint of the path point will affect the impact of the joint,thus affecting the trajectory precision of the manipulator.Aiming at the joint impact problem caused by the application of"3-5-3"joint space trajectory interpolation and three-and four-times mixed interpolation algorithm,a"5-7-5"hybrid interpolation algorithm is proposed by analyzing the polynomial interpolation characteristics,which alternately applies the five-time and seventh-order polynomials to calculate the joint pose interpolation on the premise of path segmentation,reduce the rate of change of the pose parameters of the robotic arm joints at critical path points.Taking the six-degree-of-freedom manipulator Puma560 as the research object,the Puma560 simulation model is established by using MATLAB platforms,and the movement mode of the manipulator completing the cyclic transportation at points A and B is taken as the motion scene,and the pose changes of the six joints are calculated by the hybrid interpolation algorithm,the variation of angle,angular velocity and angular acceleration with time is analyzed,and compared with with"3-5-3","3-4-3"and other interpolation algorithms.The results show that the joint trajectory of the manipulator is continuous and smooth after being optimized by the"5-7-5"hybrid interpolation algorithm,which can effectively reduce the joint impact.This paper provides an optimization method for joint space trajectory planning with the goal of reducing joint impact.关键词
机械臂/MATLAB/多项式插值/轨迹规划/混合插值Key words
manipulator/MATLAB/polynomial interpolation/trajectory planning/hybrid interpolation分类
信息技术与安全科学引用本文复制引用
罗毅,石艳,林椿松,唐威,徐广琦..基于"5-7-5"混合插值的机械臂轨迹优化方法研究[J].四川轻化工大学学报（自然科学版）,2025,38(1):20-29,10.基金项目
四川省科技计划重点研发项目(2022YFG0068) （2022YFG0068）
四川省大学生创新创业项目(CX2023073) （CX2023073）
