孙巍伟, 王晗, 黄民.一种基于运动学约束的工业机器人轨迹规划算法[J].河南理工大学学报（自然科学版）,2020,39(2):91-96.

SUN W W, WANG H, HUANG M.An industrial robot trajectory planning algorithm based on kinematics constraints[J].Journal of Henan Polytechnic University(Natural Science) ,2020,39(2):91-96.

一种基于运动学约束的工业机器人轨迹规划算法

孙巍伟, 王晗, 黄民

北京信息科技大学机电工程学院，北京100192

摘要:为了能够实现多自由度工业机器人运动的柔性化，并满足实时性要求，提出一种基于运动学约束的工业机器人轨迹实时规划算法，该算法以机械臂运动时的速度、加速度和加加速度（加速度对时间的导数）为约束条件，可实现在线实时生成点到点的多自由度运动轨迹。采用三次多项式表达机器人的运动轨迹，保证机器人运动的柔性。将提出的轨迹生成算法运用到 AuBo-i5工业机械臂上进行验证。本方法不涉及优化算法，运动轨迹可由多项式直接计算生成并发送至机器人控制器，所需计算时间极短，保证轨迹可以在一个控制周期（约1 ms）内完成，因此，该算法可快速集成在视觉或力觉的闭环反馈系统中。此外，提出一种简单有效的时间同步策略，以减小机器人轨迹跟踪时的误差。

关键词:工业机器人;运动学约束;轨迹规划;柔性化

doi:10.16186/j.cnki.1673-9787.2020.2.13

基金项目:国家重点研发计划专项项目（2017YFB1304004-04）；北京市科技计划项目（Z171100000817006 ）；北京市市属高校高水平 创新团队建设计划项目（IDHT20180513 ）

收稿日期:2019/04/28

修回日期:2019/06/06

出版日期:2020/03/15

An industrial robot trajectory planning algorithm based on kinematics constraints

SUN Weiwei, WANG Han, HUANG Min

School of Mechanic and Electric Engineering， Beijing Information Science & Technology University， Beijing 100192 ， China

Abstract:In order to realize the smooth and real-time motion generation for multi-DoF （ degree of freedom ） industrial robots，a trajectory generation algorithm based on kinematic motion constraints was presented. The velocity ，acceleration and jerk （the derivative of acceleration to time ） were taken as the kinematic constraints of industrial robot manipulators to generate point-to-point multi-DoF trajectories in real-time. The cubic polynomials were used to represent the robot trajectories to guarantee the motion smoothness. The proposed trajectory generation algorithm was applied to the AuBo-i5 industrial manipulator for verification. Due to direct computation of polynomials without any optimization， the proposed algorithm was fast and could produce trajectories within a control circle， which enabled easy integration in the feedback loop of visual servo or force control. A simple but effective synchronization strategy was also presented to reduce the robot tracking error.

Key words:industrial robot;kinematics constraint;trajectory planning;flexibility

一种基于运动学约束的工业机器人轨迹规划算法_孙巍伟.pdf