机器人学基础-第7章-机器人轨迹规划-蔡自兴讲课教案.ppt

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1、机器人学基础-第7章-机器人轨迹规划-蔡自兴Ch.7TrajectoryPlanningofRobots27.1GeneralConsiderationsinRobotTrajectoryPlanning7.2InterpolatedCalculationofJointTrajectories7.3PlanningofCartesianPathTrajectories7.4RealTimeGenerationofPlanningTrajectories7.5SummaryCh.7TrajectoryPlanningofRobots7.1GeneralConsi

2、derationsinTrajectoryPlanning轨迹规划应考虑的问题BasicProblem:Movethemanipulatorarmfromsomeinitialpositiontosomedesiredfinalposition(Maybegoingthroughsomeviapoints).37.1Generalconsiderations7.1GeneralConsiderationsinTrajectoryPlanningTrajectory:Timehistoryofposition,velocityandaccelerationfor

3、eachDOFPathpoints:Initial,finalandviapointsConstraints:Spatial,time,smoothness47.1GeneralconsiderationsJointspaceEasytogothroughviapoints(Solveinversekinematicsatallpathpoints)NoproblemswithsingularitiesLesscalculationsCannotfollowstraightlineCartesianspaceWecantrackashape(fororient

4、ation:equivalentaxes,Eulerangles,…)Moreexpensiveatruntime(afterthepathiscalculatedneedjointanglesinalotofpoints)Discontinuityproblems5GeneralConsiderations-SolutionSpace7.1GeneralconsiderationsCartesianplanningdifficulties:6GeneralConsiderations-SolutionSpace7.1Generalconsiderations

5、Initial(A)andGoal(B)Pointsarereachable,butintermediatepoints(C)unreachable.Ch.7TrajectoryPlanningofRobots77.1GeneralConsiderationsinRobotTrajectoryPlanning7.2InterpolatedCalculationofJointTrajectories7.3PlanningofCartesianPathTrajectories7.4RealTimeGenerationofPlanningTrajectories7.

6、5SummaryCh.7TrajectoryPlanningofRobotsJoint-SpaceSchemesEachpathpointis"converted"intoasetofdesiredjointanglesbyapplicationoftheinversekinematics.Asmoothfunctionisfoundforeachofthenjointswhichpassthroughtheviapointsandendatthegoalpoint.Timerequiredforeachsegmentisthesameforeachjoint

7、.Thedeterminationofthedesiredjointanglefunctionforaparticularjointisindependentwithotherjoints.87.2InterpolatedCalculationofJointTrajectories关节轨迹的插值计算7.2Joint–SpaceSchemesChoiceofinterpolationfunctionisnotunique!9Joint-SpaceSchemes7.2Joint–SpaceSchemesSeveralpossiblepathshapesforas

8、inglejoint.Someposs