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bold; font-size: 10pt;"> </span><span class="18" style="line-height: 11pt; text-indent: 0pt; font-family: 'MS Gothic'; letter-spacing: -0.5pt; font-weight: bold; font-size: 10pt;">3.2 </span><span class="18" style="line-height: 11pt; text-indent: 0pt; font-family: 'MS Gothic'; letter-spacing: -0.5pt; font-weight: bold; font-size: 10pt;">Delta</span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人轨迹规划特点</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">随着社会的发展，自动化技术在数控机床和机器人领域都有了广泛的应用。数控机 床和机器人运行过程中都需要进行合理的轨迹规划，由于两种自动化设备的用途不同， 数控机床和机器人的轨迹规划拥有各自不同的侧重点。例如，在数控机床的轨迹规划过 程中，主要考虑整段轨迹规划的精准性；在应用广泛的抓取机器人的轨迹规划过程中， 一般只需实现点到点的运动或者只要求部分轨迹精确，虽然，在抓取机器人的运行过程 中，通常要采取避障措施，但对整个轨迹的中间路径要求往往并不严格，从而，给了抓取机械人轨迹规划很大的设计空间</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[66]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。数控机床与抓取机器人轨迹规划对比如图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">3-1</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">所 示，其中，黑色实线为要求运动控制轨迹曲线，绿色虚线为轨迹规划得到的实际运动控 制拟合曲线。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">综上所述，</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人轨迹规划目标如下所示：满足部分轨迹精确要求，满足与时间相对应的点位与速度要求；进行轨迹优化，降低系统中关键零部件的受力与冲击；提高系统整体的速度、精度与部件寿命。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">一般情况下，都是在运动学基础上讨论样条函数与轨迹规划的相关技术，实际上， 由于轨迹规划结果的动力学性能好坏直接影响机械零部件的使用寿命、运行速度和精度， 因此，在抓取机器人的运动控制中，轨迹规划结果除了要满足基本的运动学要求外，还 要满足机器人的动力学要求。为了得到良好的轨迹规划结果，使其满足关节空间或工作 空间的位移、速度、加速度，甚至加加速度要求，在机器人的轨迹规划中应加入动力学 的优化模型，使得运动学的轨迹规划与动力学模型相结合，从运动控制拟合曲线上，提 高机器人的运动学和动力学性能。</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E6%A2%B0%E6%89%8B' target='_blank'>机械手</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E5%99%A8%E4%BA%BA' target='_blank'>机器人</a> <!-- 分类 --> <div class="blank10"></div> 分类： <a href='/bethel/type/jnc/type-1.html' 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