摘要
针对工程实际中由于机器人电机速度滞后于关节速度带来的振动问题,首先,对机器人关节进行了轨迹函数的规划和关节运动方程的分析,建立了电机转矩与轨迹函数之间的关系,应用Solidworks和Matlab软件,绘制出了机器人运动关节轨迹函数的速度—转矩曲线。其次,参考伺服电机速度—转矩特性曲线,分析了关节最大转矩与电机转矩之间的相互影响。最后,提出了一种基于电机转矩曲线下优化轨迹函数的简单方法,推导出了轨迹函数中与关节最大转矩相关的变量,进行了轨迹函数的优化,并利用机器人实验平台进行了轨迹函数优化后的测试。研究结果表明,通过该方法调整轨迹函数后,码垛速度从4.5 s/包提高到3.96 s/包,并且在相同速度下,调整后的关节没有产生冲击,验证了该方法在优化轨迹函数方面的合理性。
Aiming at the problem that the vibration occured because of the joint＇s speed lagged behind the trajectory planning speed. firstly,the planning of the trajectory function was as well as the analysis of joint＇s kinematic equation was done,and the connection between motor＇s torque and trajectory function was built. Secondly,with the tools of Matlab and Solidworks,the robot＇s velocity-torque curve of joint＇s trajectory function was built,and the maximum torque of joint and motor influenced each other was analysed. Finally,the easier method to optimize trajectory function was presented based on the curve of servo motor＇s torque,the variety related to joint＇s maximum torque in the trajectory function was elicited,and the robot＇s trajectory function was optimized as well as the test of it with the robot experiment rig was finished.The results indicate that the palletizing speed is promoted from 4. 5 s per bag to 3. 95 s per bag after the optimization in this way,meanwhile,there is no vibration when with same joint＇s speed,and the method is certified reasonable in trajectory planning.
出处
《机电工程》
CAS
2016年第9期1144-1148,共5页
Journal of Mechanical & Electrical Engineering
关键词
码垛机器人
轨迹优化
转矩
轨迹函数
palletizing robot
optimize trajectory
torque
trajectory function
