力矩受限时的最优轨迹规划方案

Torque-limited Trajectory Planning Scheme

This paper presents a torque-limited trajectory planning scheme, which is used in execution of trajectory along a geometric path for robotic manipulator. The time history of the path provided by the scheme can be sent to a feedforward robotic controller. In the first place, we describe the upper limit prediction of the path speed for uniform motion and the path acceleration for variable motion, and point out that the variable motion is possible when the path speed is less than the value of prediction for uniform motion. From them, 2 computer-based algorithms are deduced for the trajectory planning. One obtains maximum trapezoid path speed for smooth tracking and the other obtains piecewise maximum path speed and acceleration for minimum tracking time, which is more convenient than other solution of optimization because we replace variable motion by piecewise uniform acceleration (deceleration) motion. Both of them make the best possible use of actuator. They have been implemented on a glass cutting D. D. Arm developed in our laboratory. The results demonstrate that they are simple but very effective planning scheme.