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为解决工业机器人轨迹规划的振动、冲击、快速运动等问题,在分析现有基于五次Bezier曲线轨迹规划的基础上,提出一种新型的改进Bezier拟合算法。预先确定Bezier控制点,再通过速度、加速度等约束条件对Bezier曲线进行修正,最终确定Bezier曲线的具体参数。改进后的五次Bezier拟合算法无须通过6个约束解6个方程,大大简化计算量。通过Bezier曲线拟合直线的算法可以更好地解决圆滑过渡的问题,且在解决多段路径的轨迹规划上实现平稳、连续、快速的运动。
In order to solve the problems of vibration, shock and fast motion of trajectory planning of industrial robots, a new improved Bezier fitting algorithm is proposed based on the analysis of existing trajectory planning based on five Bezier curves. The Bezier control points are determined in advance, and then the Bezier curves are corrected through constraints such as speed and acceleration to finally determine the Bezier curve specific parameters. The improved five-times Bezier fitting algorithm does not need to solve six equations through six constraints, which greatly simplifies the calculation. The algorithm of fitting straight lines by Bezier curve can better solve the problem of sleek transition and achieve smooth, continuous and rapid movement in the trajectory planning of multi-section paths.