考虑冗余自由度的六轴机器人光顺运动路径规划方法

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关键词：机器人加工；冗余优化；光顺关节运动；碰撞避免

中图分类号：TP242；TG547

DOI：10.3969/j.issn.1004-132X.2025.11.021

Abstract： The existing redundancy optimization methods might fail to fully exploit the robot's redundancy when six-axis industrial robots performing five-axis machining tasks，limiting the smoothness of the planned motion path. An efficient algorithm was proposed for collsion-free and smooth joint motion planning of six-axis robots. The method fully utilized the robot's redundancy by varying the redundancy variable at each cutter location data to generate allpossible candidate robot postures. To enhance computational efficiency，a two-step search strategy was introduced combining rough and fine searches with a greedy approach，and the robot postures were selected from feasible postures with greedy strategy. The proposed method does not require segmenting the machining path and may optimize the robot’s posture along the entire machining path simultaneously. The eectiveness of the proposed algorithm was validated by simulation calculations on joint motion paths of six-axis industrial robots conducting five-axis miling surface machining tasks.

Key words： robotic machining； redundancy optimization； smooth joint motion;colision avoidance

0 引言

相较于数控机床，工业机器人在灵活性、工作空间和加工成本方面具有显著优势，其应用已从传统的重复性、低精度任务（如装配和搬运）逐步扩展到高精度制造工艺（抛光、铣削、增材制造等）。（剩余10398字）