关键词: 工业机器人, 圆弧转接, 拾放操作, 非对称S曲线, 轨迹规划, 平滑过渡

Abstract: Aiming at the discontinuity and abrupt change of tip velocity in pick-and-place operation of industrial robots,a trajectory planning algorithm based on arc transition was designed.Based on the given path point and arc radius,a mathematic model of arc transfer at the corner was established and the formula of path segment after segmentation was deduced.The asymmetric S-shaped acceleration and deceleration model was adopted in the path segment,and the optimal transfer speed was calculated under speed constraints.According to the situation that the maximum speed and the maximum acceleration could be reached or not in the path segment,the cross-section look-ahead speed planning was carried out in four cases.The arc length increment interpolation method was adopted to achieve trajectory planning.Triangular and gantry pick-and-place operation experiments were carried out on a 6-DOF real-time control platform.The results showed that the proposed algorithm could realize the smooth transition of speed at the corner of pick-and-place path,reduce the sudden change of acceleration and improve the task efficiency of robot.

Key words: industrial robot, space arc transfer, pick-and-place operation, asymmetrical S-curve, trajectory planning, smooth transition