Robot manipulator path control based on variable speed trajectory planning

摘要

A new trajectory planning method which takes into account the ability of the control system of a robot manipulator is proposed. The tracking speed of the robot manipulator should be planned so that it changes with the radius of curvature of the path to be tracked by the robot manipulator. In this paper, the tracking speed is determined systematically on the basis of the frequency response of the control system. Trial and error is not necessary. This method is called variable speed trajectory planning. Adaptive control with the variable speed planning method is considered. The model reference adaptive control method is very suitable for applying the planning method because each servo system of the robot manipulator is decoupled by the adaptive control method. A parallel drive robot manipulator is taken as an example to show the effectiveness of the proposed method.