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Research On Industrial Robot Motion Planning And Spline Interpolation

Posted on:2018-10-28Degree:MasterType:Thesis
Country:ChinaCandidate:X J YuFull Text:PDF
GTID:2348330566951042Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
The development of automobiles,ships,and aerospace manufacturing is becoming more and more demanding for intelligent industrial robots.Automatic motion planning and complex curve interpolation have become essential functions in industrial robot.However,many path searching methods cannot achieve fast motion planning in high dimensional space.The researches on spline interpolation are also not mature.How to reduce computational time and eliminate cumulative error needs further research.To solve the existing problems,new methods are proposed,which realize fast motion planning and effective curve interpolation for multi-axis robot in different scenarios.The research content is as follows:Based on the unilateral Gaussian sampling strategy,the moving-window rapidly-exploring random tree was proposed.The proposed method could speed up the motion planning.It could also guarantee the algorithm stability in difference obstacle distribution.In according to complexity of searching space,the depth and breadth of the searching tree could be changed by adjusting the parameter of sampler.After cubic b-spline fitting by least squares method,the fitted curve was used for continuous-acceleration interpolation.S-shape velocity planning was detailed deducted for overall spline curve.To eliminate the cumulative error in spline interpolation,curvature feature for spline segmentation was applied to realize real-time error compensation.To achieve high-speed interpolator under jerk constraint and global time-optimal interpolation,time-optimal velocity planning was modeled.The master-slave axis control strategy was applied.It transfers high-dimensional velocity planning for multi-axis robot into one-dimensional velocity planning for the master axis.Velocity profile of each axis was optimized separately under its velocity,acceleration and jerk constraints.Through simulation on Matlab and UG add-on development platform with a puma560 manipulator model,the feasibility of proposed algorithms was verified,including rapid and smooth motion planning,real-time segmented spline interpolation and time-optimal interpolation.
Keywords/Search Tags:Sample-based motion planning, S-type velocity planning, Segmented spline interpolation, Time-optimal interpolation
PDF Full Text Request
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