Research And Application Of Robot Arm Trajectory Planning Algorithm Based On Phase Plane Method

The target trajectory of the manipulator is often determined by trial teaching method,and then the speed curve of each joint is determined by the trajectory planning algorithm.The traditional trajectory planning algorithm only considers the nonlinearity of the kinematic model of the manipulator and the limitation of the joint motor speed,which makes planning The trajectory cannot fully exert the working efficiency of the robotic arm.How to improve the working efficiency of the robotic arm by optimizing the target trajectory has important research value.This article takes a rectangular coordinate sixdegree-of-freedom robot(abbreviation: rectangular coordinate robot)as an example,combined with the kinematics model and dynamic model of the rectangular coordinate robot,as well as the joint driving speed,acceleration,driving force / torque and other restrictions,the rectangular coordinate robot Plan the speed curve of the target trajectory.The main work of this article is as follows:Firstly,the kinematics and dynamics model of the Cartesian coordinate robot is established.Based on the rectangular coordinate robot dynamic model,the target trajectory is approximated by the time optimal trajectory planning(abbreviation: speed curve planning algorithm).Considering that the speed curve planning algorithm requires a more accurate dynamic model,the least square method is used to inertial the rectangular robot Parameter identification.For the identification of the inertial parameters of the rectangular robot load,that is,the aircraft model,the driving force / torque observer(abbreviation: observer)based on momentum deviation is used to observe the driving force / torque of the aircraft model;/ Torque Observer's Effectiveness of Aircraft Model Driving Force / Torque Observation.Secondly,Secondly,research the speed curve planning algorithm.The kinematics model and dynamic model of the Cartesian coordinate robot and the joint speed,acceleration,torque and other constraints are parametrically expressed by path parameters,and the planning problem of the target trajectory velocity curve is transformed into a twodimensional optimization problem of the phase plane.The fuzzy inference method is used to calculate the number of characteristic path points of the path parameters,and the method of obtaining the maximum speed curve of the path parameter under multiple constraints is introduced.Finally,the maximum speed curve is corrected by the modification / shooting algorithm to reduce the maximum speed curve The large fluctuations of the maximum speed curve that meet the constraints of joint speed,acceleration,torque and so on.Finally,the effectiveness and calculation efficiency of the speed curve planning algorithm are verified through experiments.Carry out speed curve planning on simple trajectories and complex trajectories to verify the effectiveness of the speed curve planning algorithm.Compare the calculation time of different trajectory planning algorithms to plan the same target trajectory and the calculation time of the speed curve planning algorithm for simple trajectory and complexity in this paper,and analyze the factors that affect the speed curve planning algorithm.Experiments show that 1)the speed curve planning algorithm can make full use of the motor driving ability,and it has a good planning effect for simple trajectories and complex trajectories;2)the calculation efficiency of the speed curve planning algorithm is proportional to the complexity of the target trajectory,The more complex the target trajectory,the longer the calculation time;3)the speed curve planning algorithm has higher calculation efficiency than the genetic algorithm and convex optimization algorithm.