前言
一段平滑的运动轨迹,至少要求位移曲线平滑、速度曲线连续,即至少需要满足四个约束条件:起始位置 s 0 s_0 s0 、结束位置 s f s_f sf 、起始速度 s ˙ 0 \dot{s}_0 s˙0 、结束速度 s ˙ f \dot{s}_f s˙f
则可以用三次多项式来表示轨迹:
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(1)
s(t)=a_{0}+a_{1} \, t+a_{2} \, t^{2}+a_{3} \, t^{3} \tag{1}
s(t)=a0+a1t+a2t2+a3t3(1)
求解轨迹方程未知参数
带入约束条件,其中
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(2)
\begin{align} s_{0}=\, & a_{0}\\ s_{f}=\, & a_{0}+a_{1} \, t_{f}+a_{2} \, t_{f}^{2}+a_{3} \, t_{f}^{3}\\ \dot{s}_{0}=\, & a_{1}\\ \dot{s}_{f}=\, & a_{1}+2 a_{2} \, t_{f}+3 a_{3} \, t_{f}^{2} \end{align} \tag{2}
s0=sf=s˙0=s˙f=a0a0+a1tf+a2tf2+a3tf3a1a1+2a2tf+3a3tf2(2)
式(2)可转化为矩阵形式
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(3)
\left[\begin{array}{c}s_{0} \\ s_{f} \\ \dot{s}_{0} \\ \dot{s}_{f}\end{array}\right]=\left[\begin{array}{cccc}1 & 0 & 0 & 0 \\ 1 & t_f & t_{f}^{2} & t_{f}^{3} \\ 0 & 1 & 0 & 0 \\ 0 & 1 & 2 t_f & 3 t_{f}^{2}\end{array}\right]\left[\begin{array}{l}a_{0} \\ a_{1} \\ a_{2} \\ a_{3}\end{array}\right] \tag{3}
s0sfs˙0s˙f
=
11000tf110tf202tf0tf303tf2
a0a1a2a3
(3)
求解矩阵方程组(当
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tf=0 时,
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det(T_{4 \times 4}) \neq 0
det(T4×4)=0)
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(4)
\left[\begin{array}{l}a_{0} \\ a_{1} \\ a_{2} \\ a_{3}\end{array}\right]=\left[\begin{array}{cccc}1 & 0 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ -\frac{3}{t_{f}^{2}} & \frac{3}{t_{f}^{2}} & -\frac{2}{t_{f}} & -\frac{1}{t_{f}} \\ \frac{2}{ t_{f}^{3}} & -\frac{2}{t_{f}^{2}} & \frac{1}{t_{f}^{2}} & \frac{1}{t_{f}^{2}}\end{array}\right]\left[\begin{array}{c}s_{0} \\ s_{f} \\ \dot{s}_{0} \\ \dot{s}_{f}\end{array}\right] \Large \tag{4}
a0a1a2a3
=
10−tf23tf3200tf23−tf2201−tf2tf2100−tf1tf21
s0sfs˙0s˙f
(4)
式(4)也可转化为代数形式
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(5)
\left\{ \begin{array}{l} a_0=s_0\\ a_1=0\\ a_3=\frac{3}{t_{f}^{2}}\left( s_f-s_0 \right)\\ a_4=-\frac{2}{t_{f}^{2}}\left( s_f-s_0 \right)\\ \end{array} \right. \tag{5}
⎩
⎨
⎧a0=s0a1=0a3=tf23(sf−s0)a4=−tf22(sf−s0)(5)
输出轨迹方程
{ s ( t ) = a 0 + a 1 t + a 2 t 2 + a 3 t 3 s ˙ ( t ) = a 1 + 2 a 2 t + 3 a 3 t 2 s ¨ ( t ) = 2 a 2 + 6 a 3 t (6) \left\{ \begin{array}{l} s\left( t \right) =a_0+a_1 \,t+a_2 \, t^2+a_3 \, t^3\\ \dot{s}\left( t \right) =a_1+2a_2 \, t+3a_3 \, t^2\\ \ddot{s}\left( t \right) =2a_2+6a_3 \, t\\ \end{array} \right. \tag{6} ⎩ ⎨ ⎧s(t)=a0+a1t+a2t2+a3t3s˙(t)=a1+2a2t+3a3t2s¨(t)=2a2+6a3t(6)
总结
缺点:虽然速度连续,但加速度是不连续的,因此存在柔性冲击,对电机的运作和寿命不利