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style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">4.4 </span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">离线与实时在线轨迹规划</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.5pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">根据不同的应用场合，轨迹规划又分为离线轨迹规划与实时在线轨迹规划，离线轨 迹规划是基于环境先验完全信息的轨迹规划，完整的先验信息只能适用于静态环境，机 器人的离线轨迹规划有其潜在的优点，例如，在编程过程中，离线的轨迹规划不需要占 用生产设备，因此，保证了自动化工厂大部分时间处于生产状态；减小了对系统硬件的 要求，有利于降低系统成本；容易实现系统的柔性组态。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.5pt;"><span class="17" style="font-family: 宋体; letter-spacing: 2pt; font-size: 11pt;">图</span><span class="17" style="font-family: 宋体; letter-spacing: 2pt; font-size: 11pt;">4-3</span><span class="17" style="font-family: 宋体; letter-spacing: 2pt; font-size: 11pt;">为</span><span class="15" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人用于管材装箱的示意图，包装好的管材由传送带沿;</span><span class="15" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">c</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">轴方向 经过机构归正后，运输到指定位置并由挡块挡住，空纸箱由传送带沿</span><span class="15" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">y</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">轴方向经过机构 归正后，运输到指定位置并由挡块挡住，</span><span class="15" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人抓取塑封好的管材产品，并按离线 规划好的轨迹运动到纸箱指定位置释放管材，然后，按照指定轨迹返回。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">由于离线轨迹规划实时性不强，对轨迹的计算时间没有特别严格的时间限制，因此, 离线轨迹规划中可以加入更加复杂的轨迹规划算法。例如，</span><span class="15" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人的离线轨迹规 划中加入了动力学的优化算法，可以有效的降低驱动电机的峰值力矩和峰值功率，并尽 可能使每个循环周期中驱动电机力矩或功率维持在峰值，以提高驱动电机利用率，或者 得到更好的末端执行器动力学参数。并且，由于机器人携带负载和空行程时的末端执行 器的质量不同，可以将机器人往返轨迹分开进行规划，当机器人空行程时可以适当提高 机器人的运行速度，从而提高机器人的工作效率。离线的轨迹规划适用于机器人运行轨迹较为单一的情况，当图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">4-3</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">中管材位姿或纸箱位姿不确定时，</span><span class="15" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人的离线轨迹 规划并不适用。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">实时在线轨迹规划是基于传感器信息的不确定环境的轨迹规划，具有很强的实时性 要求，由于动力学优化算法中需要对位移、速度求导，极大地增加了运算时间，所以， 实时在线的机器人轨迹规划一般不会加入复杂的动力学优化算法，但是为了提高机器人 的性能，缩短机器人每个周期的运行时间，减小或避免机器人的振动，力求轨迹精确， 实时在线轨迹规划中应加入相应算法以满足动力学的要求；或者将满足要求的各种情况 提前进行离线轨迹规划，再将所有计算好的离线轨迹规划结果制成实时在线轨迹规划所 需的数据库，这样实时在线轨迹规划就会得到具有优良运动学和动力学性能的拟合曲线。</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> <a 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href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E6%A2%B0%E6%89%8B' target='_blank'>机械手</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E5%99%A8%E4%BA%BA' target='_blank'>机器人</a> <small>相关内容</small></a></h3> <p></p> <span>——</span> </div> <!-- 页面标题结束 --> <hr class="featurette-divider"> <div class="container list-container"> <!-- 内容列表开始 --> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>11</span> <p>2024-12</p> </div> <h4><a title="U600S五轴加工中心视频" href="/bethel/video/show-3042.html" 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target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五轴加工中心和五轴钻攻中心在机测量探头补偿" href="/bethel/5-aix/show-2959.html" target="_blank">五轴加工中心和五轴钻攻中心在机测量探头补</a></h4> <p>在机测量技术由于其成本低、检测效率高、无需二次装夹等优势被广泛用于零件加工测量当中，使得五轴加工中心和五轴钻攻中心，同时又兼具测量功能。在机测量系统的构成如图1所示，硬件部分主要是由高精度探头、信号接收器、机床整个本体，软件部分由机床控制系统、测量软件等组成[8]。待零件加工完成… <a href="/bethel/5-aix/show-2959.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五轴加工中心进给系统动态误差影响因素" href="/bethel/5-aix/show-2958.html" target="_blank">五轴加工中心进给系统动态误差影响因素</a></h4> <p>加工精度是影响机床性能和产品质量的主要难题，也是制约国家精密制造能力的重要因素。本文以五轴加工中心为对象，针对提升机床精度进行了研究。并且随着科技的发展，精密的仪器和零件在生产实践中占据的分量逐渐增加，在数控机床这种精密机器精度不断提高的同时，必须控制内外界环境的随机影响因素在… <a href="/bethel/5-aix/show-2958.html" target="_blank">[了解更多]</a></p> </div> <!-- 内容列表结束 --> </div> <!-- 相关文章结束 --> <!-- 页底推荐图文产品开始 --> <hr 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