自驱动关节臂坐标测量机轨迹规划与仿真

2020-10-21

作者：胡馨予，胡毅，韩梁，占瑜毅，郑辰雅单位：合肥工业大学仪器科学与光电工程学院

摘要：自驱动关节臂坐标测量机以测量为目标，要求测量过程平稳运行，且其确切的目标位置点未知。针对自驱动关节臂坐标测量机的工作过程，提出先加速、再减速后匀速的轨迹规划方法。建立基于DH模型的运动学方程，将五次多项式插值法和直线插补法结合进行轨迹规划，在MATLAB中建立仿真环境模型。在线测量仿真结果表明，仿真测量过程中的自驱动关节臂坐标测量机速度和加速度连续，未发生突变，达到了减小自驱动关节臂坐标测量机振动的目的。

关键词：自驱动关节臂坐标测量机；轨迹规划；五次多项式插值；直线插补

中图分类号：TG806；TH741文献标志码：ADOI：10.3969/j.issn.1000-7008.2020.06.015

Trajectory Planning and Simulation of Selfdriven Articulated Arm

Coordinate Measuring Machine

Hu Xinyu，Hu Yi，Han Liang，Zhan Yuyi，Zheng Chenya

Abstract:The selfdriven articulated arm coordinate measuring machine aims at measuring，which requires smooth measuring process，and the exact target point is unknown.Aiming at the working process of the selfdriven articulated arm coordinate measuring machine，a trajectory planning method for accelerating is proposed and then slowing down and eventually become uniform.Based on DH model，the kinematics equation is established，and a trajectory planning method combining joint space and cartesian space is proposed，and the fiveorder polynomial interpolation method and linear interpolation method are combined to achieve the goal of improving the measuring stationary.A measuring machine model and a sphere simulation environment model are established in MATLAB.The measuring object is simulated by using the designed trajectory planning method.The simulation results show that the velocity and acceleration of the selfdriven articulated arm coordinate measuring machine are continuous and the vibration of the selfdriving joint arm coordinate measuring machine is reduced.

Keywords:selfdriven articulated arm coordinate measuring machine；trajectory planning；fiveorder polynomial interpolation method；linear interpolation