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_谭冠政.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 outh University, Hunan Changsha 410083, China; 2.Robotics Laboratory, Chinese Academy of ciences, Liaoning hengyang 110016, China) Abstract: A new method used for time_optimal trajectory planning and control of industrial robots is proposed, which can ensure the motion of a robot. s hand along a specified path in Cartesian space has the minimum traveling time under the con- straints on the boundary values of joint displacements, velocities, accelerations, and jerks. In this method, the planned joint tra- jectories are all expressed by a quadratic polynomial plus a cosinoidal function and are continuous not only in displacements, ve- locities, accelerations but also in jerks. By using the method, a robot. s working efficiency can be raised and itslife span can be extended. The results of computer simulation and experiment with a Unimate PUMA 560 type robot proves that this method is correct and effective. It provides a better solution to the problem of industrial robot. stime_optimal trajectory planning and con- trol under the nonlinear kinematical constraints. Key words: industrial robot; time_optimal; trajectory planning; trajectory control; quadratic polynomial; cosinoidal function; optimization algorithm CLC number: TP