| 段伟雄,邹树梁,任宇宏,邓骞.多功能拆除机器人自动对接工具轨迹规划研究[J].南华大学学报(自然科学版),2019,33(6):77~83.[DUAN Weixiong,ZOU Shuliang,REN Yuhong,DENG Qian.Research on Trajectory Planning of Multi-function Demolition Robot Automatic Docking Tool[J].Journal of University of South China(Science and Technology),2019,33(6):77~83.] |
| 多功能拆除机器人自动对接工具轨迹规划研究 |
| Research on Trajectory Planning of Multi-function Demolition Robot Automatic Docking Tool |
| 投稿时间：2019-07-19 |
| DOI： |
| 中文关键词: 多功能拆除机器人 自动对接 Bezier曲线 分段轨迹规划 |
| 英文关键词:multifunction demolition robot automatic docking bezier curve segmented trajectory planning |
| 基金项目:湖南省军民融合产业发展专项资金项目(2017JMH01);湖南省教育厅科学研究项目(16B227) |
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| 中文摘要: |
| 为保证多功能拆除机器人机械臂在自动对接工具过程中的轨迹平稳连续和启停无冲击,提出了一种可配置速度的分段轨迹规划方法,即首先利用Bezier曲线生成其避障对接路径,然后在关节空间利用4-4-…-4-5次多项式对其对接路径进行分段插值。最后,以某型三臂式多功能拆除机器人对接工具为例,通过Matlab进行仿真,结果表明:4-4-…-4-5次多项式插值轨迹规划方法保证了多功能拆除机器人各关节角角度、角速度和角加速均连续,且启停位置具有零速度和零加速度,为实现多功能拆除机器人自动对接工具提供了基础。 |
| 英文摘要: |
| In order to ensure the trajectory of the multi-function demolition robot in the process of automatic docking tool is smooth and continuous with no impact on the start-stop,a segmented trajectory planning method with configurable speed is proposed.Firstly,the Bezier curve is used to generate the obstacle avoidance docking path.Secondly,a 4-4-…-4-5 polynomial is used to perform segmentation interpolation on its docking path in joint space.Finally,taking the docking tool of a three-arm multi-function demolition robot docking tool as an example,the simulation is carried out by Matlab.The results show that the 4-4-…-4-5 polynomial interpolation trajectory planning method ensures that the angle,angular velocity and angular acceleration of each joint of the multi-function demolition robot are continuous,and the start-stop position has zero velocity and zero acceleration,which provides the basis for automatic docking tool of the multi-function demolition robot. |
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