摘要
机器人在启动、停止过程中会出现速度曲线不平滑,加速度突变,从而造成本体冲击、震动等情况。机器人在运动过程中,必须保证速度变化平稳,各阶段之间平滑过渡,尽可能减少因速度、加速度的突变带来的冲击等问题。针对此情况对码垛机器人的速度控制进行了研究,现阶段常用的加减速法包括直线加减速法、指数加减速法、多项式加减速法、抛物线加减速法、S曲线加减速法等。着重分析了直线加减速法、指数加减速法和多项式加减速法。
The velocity curve not smooth and the sudden change of acceleration will appear when the robot start or stop, resulting in body shock, vibration etc. In the process of robot movement, that no sudden change of acceleration, small changes in velocity and smooth transition in every stages of the movement should be ensured so as to reduce the impact and many other problems due to the change of the speed and the acceleration. Focusing on the above cases, the velocity control of the palletizing robot is studied. Now common acceleration and deceleration method include linear acceleration and deceleration method, exponential acceleration and de- celeration method, polynomial acceleration and deceleration method, parabola acceleration and deceleration method and S curve acceleration and deceleration method etc. The linear acceleration and deceleration method, exponential acceleration and deceleration method and polynomial acceleration and deceleration method are analyzed emphatically.
出处
《机械传动》
CSCD
北大核心
2015年第9期37-40,共4页
Journal of Mechanical Transmission
关键词
机器人
加速度
S曲线加减速
多项式加减速
Robot Acceleration Seurve acceleration and deceleration Polynomial acceleration and deceleration
