关键词: 轨迹规划, 机械手, 脉动连续, 时间最优, 序列二次规划

Abstract: In order to optimize the productivity and ensure the running stability of manipulators, a new optimal trajectory planning algorithm is proposed. Position series in joint space are obtained by applying inverse kinematic algorithm to a specified trajectory in task space, and B-splines of seven degree are exploited to interpolate joint position series and generate joint trajectories with continuous velocity, acceleration and jerk, as well as controllable start-stop kinematic parameters. By converting kinematic constraints of manipulators to constraints on control points of B-splines, optimal time nodes are solved by using sequential quadratic programming strategy, then time-optimal and jerk-continuous trajectories which satisfy nonlinear kinematic constraints are planned. Simulating and experimental results show that the proposed trajectory planning algorithm provides ideal trajectories for joint controller, and ensures manipulators to track any specified trajectory in task space stably with the minimum traveling time.

Key words: Continuous jerk, Manipulator, Optimal execution time, Sequential quadratic programming, Trajectory planning