摘要
六自由度液压机械臂具有更高的负重比,但由于液压关节存在响应时滞,易导致机械臂末端执行器行进轨迹出现偏离。为此,提出一种基于三次B样条函数的轨迹纠偏算法。利用改进的D-H参数法标定液压机械臂关节的空间位姿坐标,构造三次B样条函数。根据B样条曲线中当前节点向量的分布,确定相关的示教点与控制点,得到节点向量随时间变化的序列值;对分割后的B样条进行插值处理,可有效纠正液压机械臂的轨迹偏离现象。结果表明:所提出的纠偏算法能够从3个轴向控制移动轨迹出现的局部偏差,使液压关节的力矩误差、角速度误差和加速度误差被控制在较低的范围内。
6-DOF hydraulic manipulator has higher load ratio,but due to the response delay of hydraulic joints,the trajectory of the end effector of the manipulator would deviate.Therefore,a trajectory correction algorithm based on cubic B-spline function was proposed.The improved D-H parameter method was used to calibrate the spatial pose coordinates of the joint of the hydraulic manipu⁃lator,and the cubic B-spline function was constructed.According to the distribution of the current node vector in the B-spline curve,the relevant teaching points and control points were determined,and the serial values of the node vector changing with time were obtained;the segmented B-spline was interpolated to effectively correct the trajectory deviation of the hydraulic manipulator.The results show that by using the proposed algorithm,the local deviation of the trajectory from three axes can be controlled,so the torque error,angular velocity error and acceleration error of the hydraulic joint can be controlled in a lower range.
作者
刘俊辉
周伟
LIU Junhui;ZHOU Wei(Department of Modern Manufacturing,Pingdingshan Technician College,Pingdingshan Henan 467000,China;Zhengzhou Research Institute of Machinery Engineering Co.,Ltd.,Zhengzhou Henan 450001,China)
出处
《机床与液压》
北大核心
2022年第9期75-80,共6页
Machine Tool & Hydraulics
关键词
三次B样条函数
机械臂
轨迹偏差
插值
控制点
Cubic B-spline function
Manipulator
Trajectory deviation
Interpolation
Control point
