基于混合样条曲线的换刀机器人换刀轨迹规划研究

为研究换刀机器人能沿特定路线平稳运动的问题，对机器人模型进行运动学分析和轨迹规划.利用旋量理论推导出机器人的运动学模型，结合蒙特卡洛法仿真得到了机器人末端工作空间的分布情况. 提出一种多节点多样条曲线运动的轨迹规划方法，以关节位移、角速度和角加速度为评价指标，分别采用3-3-3，5-5-5和4-5-5样条曲线进行了轨迹规划.样机平台试验表明，4-5-5混合多项式可以得到较平稳的加速度变化曲线，有效解决了加速度发生阶跃和突变过大的现象.以上研究为机械臂复杂换刀路径的轨迹规划提供了基础.

Research on Tool-Changing Trajectory Planning of Tool-Changing Robots Based on Hybrid Spline Curves

In order to study the issue that the tool-changing robot can move smoothly along a specific route， kinematics analysis and trajectory planning of the robot model are carried out. The kinematics model of the robot is derived by using the screw theory combined with Monte Carlo simulation to obtain the distribution of the working space at the end of the robot. A trajectory planning method for multi-node and multiple-curve motion is proposed. The joint displacement， angular velocity and angular acceleration are used as the evaluation indicators， and 3-3-3， 5-5-5 and 4-5-5 spline curves are used to plan the trajectories respectively. The prototype platform test shows that the 4-5-5 mixed polynomial can obtain a relatively stable acceleration curve， which effectively solves the problem of excessive steps and sudden change in acceleration. The research provides a basis for the trajectory planning of complex tool-changing paths of manipulators.