基于直插补模型的柔性机械臂末端运动轨迹规划方法

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中图分类号：TP242.2 文献标志码：A 文章编号：1671-5276（2025）06-0228-04

Abstract：Flexibleroboticarmsundergo elasticdeformation inmotion，leading todiscontinuous oruneven trajectorysegmentsin theoriginalParetosolutionoftendefectortrajectoryplaningojectivefunction.Thedirectinterpolationmodel，owever，can improvethecontinuityofthetrajectorythroughmodification.Therefore，aflexibleroboticarmendefectormotiontrajectory planing methodbasedonthe directinterpolationmodelisproposed.Visuallocalization methodsareemployedtoidentifymoving targetsandtheir three-dimensionalspatialcoordinatedareabtained.According tothespatialcoordinates，theminimumbounding rectanglemethod isusedtocalculatetheposeangleoftheendefectoroftheroboticarm，constructthetrajectoryplanning functionfortheendefectormovementoftheroboticam，andobtaintheinitialParetofrontendsolutionoftheojectivefunction. Usingadirectinterpolationmodeltogeneratesmoth transitiontrajectoriesbetweendiscreteParetoinitialsolutionpoints，andthe initialParetofrontndsolutioniscoretedtoimprovethesmoothnessoftendefectormotiontrjectoryoftheobotica.The experimental resultsshowthatthe proposed method hasahigh successrate inlocating movingtargets，andthe erorbetween the motion trajectory and the optimal trajectory isminimized.

Keywords：directinterpolationmodel;flexibleroboticarm;endpointmotiontrajectory；postureangle；Pareto front-endsolution

0 引言

随着机器人技术的飞速发展，柔性机械臂[1-2]因其轻质、灵活和适应性强等特点，从而在自动化装配、精密操作、空间探索和医疗手术等领域展现出巨大的应用潜力。（剩余4901字）