工业机器人时间最优轨迹规划及轨迹控制的理论与实验研究_英文_.pdf

20 2 控制理论与应用 Vol.20 No.2 　2003 4 Control Theory Applications Apr.2003 　 Article ID:1000-8152(2003)02-0185-08 Theoretical and experimental research on time_optimal trajectory planning and control of industrial robots 1 2 TAN Guan_zheng , WANG Yue_chao (1.Institute of Robotics, Central South University, Hunan Changsha 4 10083, China; 2.Robotics Laboratory, Chinese Aca emy of Sciences, Liaoning Shengyang 1100 16, China) 　　Abstract:A new metho use for time_optimal trajectory planning an control of in ustrial robots is propose , which can ensure the motion of a robot s han along a specifie path in Cartesian space has the minimum traveling time un er the con- straints on the boun ary values of joint isplacements, velocities, accelerations, an jerks.In thismetho , the planne joint tra- jectories are all expresse by a qua ratic polynomial plus a cosinoi al function an are continuous not only in isplacements, ve- locities, accelerations but also in jerks.By using the metho , a robots working efficiency can be raise an its life span can be exten e .The results of computer simulation an experiment with a Unimate PUMA 560 type robot proves that this metho is correct an effective.It provi es a better solution to the problem of in ustrial robots time_optimal trajectory planning an con- trol un er the nonlinear kinematical constraints. Key words:in ustrial robot;time_optimal;trajectory planning;trajectory control;qua ratic polynomial;cosinoi al function;optimization algorithm CLC number:TP24　　　Document code:A