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首页> 外文期刊>Intelligent Service Robotics >Trajectory planning of a parallel manipulator based on kinematic transmission property
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Trajectory planning of a parallel manipulator based on kinematic transmission property

机译：基于运动传动特性的平行机械手的轨迹规划

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摘要

In order to obtain smooth trajectory and real-time performance of micro-manipulation for micro-motion parallel manipulator, this paper presents a new smooth trajectory planning based on the kinematic transmission property. Under the requirement of high tracking precision, seven-degree B-spline is adopted to interpolate poses of the micro-motion parallel manipulator in Cartesian space, which will make the velocities, accelerations and jerks bounded and continuous. Moreover, the start-end velocities, the start-end accelerations and the start-end jerks are configurable based on the seven-degree B-spline. In order to ensure that the planned trajectory is the optimal, an objective function containing accumulated jerk based on the kinematic transmission property is considered. Then, sequential quadratic programming method is adopted to obtain the optimal smooth trajectory based on the good kinematic transmission property, which can meet the kinematic constraints. Simulations and experiments show that the planning trajectories based on the proposed method have the advantages of continuous and small accumulated jerk. Furthermore, the proposed method can decrease tracking errors of the trajectories more effectively than the cubic spline.
机译：为了获得微观行动并行机械手的微操纵微型操作的平滑轨迹和实时性能，本文介绍了基于运动传动特性的新的平滑轨迹规划。在高跟踪精度的要求下，采用七度B样条曲线在笛卡尔空间中的微观运动平行机械手的姿势内插，这将使速度，加速度和混蛋有界和连续。此外，启动端速度，启动端加速度和起始末端抽搐可基于七度B样条来配置。为了确保计划的轨迹是最佳的，考虑了含有基于运动传动特性的积累的延伸的目标函数。然后，采用序贯二次编程方法以基于良好的运动传动特性获得最佳平滑轨迹，这可以满足运动约束。模拟和实验表明，基于所提出的方法的规划轨迹具有连续和小积累的混蛋的优点。此外，所提出的方法可以比立方样条更有效地减少轨迹的跟踪误差。

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