Optimal Trajectory Planning Algorithm of Industrial Robot Based on Joint Loss Constraint

doi:10.3901/JME.2024.19.011

Abstract

Abstract: A robot speed optimal trajectory planning method based on joint loss constraints is proposed，so that each joint of the robot can move at the fastest speed without excessive loss.Based on the theoretical model of permanent magnet synchronous motor, the impact of temperature rise of industrial robot joint motor on current, torque and speed is established.Combined with the field weakening control strategy, a joint motor model that introduces temperature rise influencing factors is established, and the motor torque constraint and reducer torque constraint are obtained.Based on the Kane method, an industrial robot dynamics model is established to obtain the motion constraints of each joint of the robot.Joint torque constraints and dynamic constraints are combined to form joint loss constraints.With the speed optimization as the goal, the joint speed and acceleration that meet the constraint conditions are obtained through an iterative algorithm, and the normalized polynomial algorithm is used to interpolate the key points obtained after optimization as joint real-time trajectories.The above method is applied to the trajectory optimization of the joint space and cartesian space of the SIASUN SR7CL industrial robot.The experimental results show that after optimization, the trajectory of each joint satisfies the loss constraint conditions and has the optimal speed.It is simple to implement, has strong real-time performance, and is suitable for high-speed operation scenarios of various industrial robots.

Key words: industrial robot, optimal trajectory planning, field weakening control, robot dynamics

CLC Number:

TP242

LIANG Liang, WU Chengdong, LIU Shichang. Optimal Trajectory Planning Algorithm of Industrial Robot Based on Joint Loss Constraint[J]. Journal of Mechanical Engineering, 2024, 60(19): 11-19.

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