基于固定工具中心点规划机器人轨迹，实现平滑运动与高效加工。
Robot Path and Trajectory Planning Considering a Spatially Fixed TCP
- 以空间固定的工具中心点为基准，结合工件路径规划轨迹。
- 采用B样条表示路径，保证轨迹连续且平滑，支持指定速度与姿态。
- 适用于工件可移动场景，已在工业机器人实机上验证效果。
本文提出一种在工作空间坐标系中基于空间固定工具中心点（TCP）的轨迹规划方法，综合考虑工件上的加工路径。该方法在工件移动比工具移动更便捷时尤为有效。无论使用数学描述定义待加工形状，还是来自设计程序的离散点，最终均以B样条表示机器人路径。利用样条函数可实现路径在指定阶数下的连续性，从而生成平滑的机器人运动轨迹。在计算轨迹时还需满足预设的姿态要求，并考虑工具中心点的给定速度。该方法已在真实工业机器人系统上进行验证，实验对象为一个任意定义的工件。
原文摘要 · Abstract (English)
This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move the part rather than moving the tool. Whether a mathematical description that defines the shape to be processed or single points from a design program are used, the robot path is finally represented using B-splines. The use of splines enables the path to be continuous with a desired degree, which finally leads to a smooth robot trajectory. While calculating the robot trajectory through prescribed orientation, additionally a given velocity at the TCP has to be considered. The procedure was validated on a real system using an industrial robot moving an arbitrary defined part.
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