针对码垛机器人高速工作时末端易产生抖动现象的问题,文章提出了一种机器人轨迹规划的数学方法.文章分析了机器人轨迹对抖动现象的影响,应用最优化方法建立了机器人关节轨迹问题的数学模型,确定了机器人优化目标,使用遗传算法求解了该优化问题,运用Matlab进行了实验计算,求得了机器人各个关节的近似全局最优轨迹.文中提出的研究方法可以用于确定控制码垛机器人平稳运行的上层算法.%To resolve the problem of terminal′s shaking when the palletizer robot works at high speed, this paper put forward a mathematic method of trajectory planning for robot.Firstly, we analyze how trajectory effects the terminal′s shaking problem.Then, a mathematic model of robot′s join-space trajectory is established by optimization methods, and defines the optimizing target of the robot model.After that, we solve the optimizing problem with genetic algorithm (GA), and use the Matlab to calculate and test the result, based on the result, the approximate global optimal trajectories of all joints is obtained.Our result can be used to figure out the upper control algorithm of the palletizer robot and ensures the smoothness.
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