Applications of Improved B-Spline Curves to 6R Robot Trajectory Optimization

被引：4

作者：

Dong J. ^{[1
]}

Wang T. ^{[1
]}

Dong J. ^{[1
]}

Zhang Y. ^{[1
]}

Tao H. ^{[1
]}

机构：

[1] School of Mechanical Engineering, Tianjin University, Tianjin

来源：

Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2018年 / 29卷 / 02期

关键词：

Improved B-spline; Industrial robot; Joint space; Trajectory optimization;

D O I：

10.3969/j.issn.1004-132X.2018.02.010

中图分类号：

学科分类号：

摘要：

A kinematics model of robots was established firstly by D-H frame method. Based on the analyses of trajectory planning processes, an improved B-spline curve was applied to the robot joint space trajectory interpolations. Secondly, after discussing the improvement reasons and elaborating the methods of improving the B-spline curves, the speed and acceleration properties, and the implementation details of the improved B-spline curves were given. Finally, simulation experiments were carried out on MATLAB 2014a platform, and the improved method was used to realize the circular trajectory. Results show that the method may improve the smoothness of robots in joint motions and spatial trajectories, and then optimize the trajectory motions of the robots. © 2018, China Mechanical Engineering Magazine Office. All right reserved.

引用

页码：193 / 200

页数：7

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