一种适用于乒乓球机械臂的固定时间梯形加速度轨迹规划方法

摘要

针对当前常见的轨迹规划方法存在的电机利用率低、规划成功率较低的问题,提出了一种适用于乒乓球机械臂的固定时间梯形加速度轨迹规划方法.该轨迹规划方法具有连续的加速度和速度；与五次多项式规划相比,在相同的最大加速度、最大速度和Jerk值限制下,规划成功率从72.3％提高到93.7％.详细介绍了轨迹规划的方法,最后通过实验验证了算法的跟踪效果.%According to the needs of a Ping -pang playing robot, a new trajectory planning method is proposed to address these problems. This method increases the successful trajectory planning rate from 72. 3% to 93. 7%. As a result, it increases the usage of motor. This paper briefly takes an overview of the common trajectory planning methods then brings out the solutions. Simulations and experiments are then took to verify the capability of this method.