Research And Implementation Of Trajectory Transition For Industrial Robots

The wide application of industrial robots puts forward higher requirements on the performance of trajectory planning,which is a key link in robot control.The trajectory transition technology of robot can improve the smoothness of trajectory motion and operating efficiency,which plays a very important role in improving the overall performance of the robot.The trajectory transition technology of robot to meet the G1 continuity is deeply investigated.To solve the problem that the trajectory of the continuous motion segment of the robot does not meet the G1 continuity,the smoothness of the continuous motion segment composed of linear and circular interpolation is analyzed,and the transition segment structure of different motion types and the speed planning scheme of the continuous motion segment are designed.For continuous motion in Cartesian space,a posture transition method based on Bessel splines is designed.For the problem that a transition curve cannot be constructed due to different tool coordinate system for adjacent motion segments,a method of interpolating tool coordinates to complete the transition is proposed.A parabolic spline fitting transition method is proposed to simplify the calculation of transition in short motion segment.For continuous motion in joint space,a method of joint-joint transition is proposed through joint interpolation.The coordinate and velocity conversion of different types of motion segments are realized through the right-angle-joint transition method based on Jacobian matrix.A speed planning algorithm with curve trajectory length,joint angle and posture rotation angle as parameters,is proposed.Two speed optimization methods which are curvature-limited transition section speed planning and initial section S-type acceleration and deceleration are used to improve the continuity of the speed curve.Based on the posture construction curve and speed planning,the spline curve interpolation technology based on the intercept method is developed to realize the real-time interpolation of the robot curve posture.Different types of trajectory transition experiments are processed based on the robot Hrt Studio simulation software.By analyzing the continuous trajectory and speed of the robot,it is verified that the transition section can make the trajectory meet the G1 continuity,and the speed planning of multiple motion sections improves time efficiency and speed smoothing performance.