执行器位姿异常的机器人轨迹规划调整方法

doi:10.16182/j.issn1004731x.joss.25-0541

摘要/Abstract

摘要：

为解决机器人执行器异常位姿对机器人轨迹的影响，提出一种虚实融合的轨迹自适应规划调整方法。引入AR技术耦合机器人运动学模型，通过三维虚实位姿同步比对取代多传感器硬件依赖；结合AR手势与语音交互简化操作流程；基于执行器实际位姿动态调整机器人末端轴轨迹。实验结果表明：该方法突破传统校准的技术与成本限制，设备需求减少且部署成本降低；校对效率提升，操作专业性要求弱化；机器人轨迹自适应规划调整能力增强，尤其解决现有规划算法对外部环境响应成熟但对执行器本体位姿突变响应不足的缺陷，为机器人作业提供了高适应性、低成本的执行器位姿校准与轨迹优化新范式。

关键词: 数字孪生, 增强现实, 轨迹规划, 位姿校对, 机器人, 末端执行器

Abstract:

To address the influence of the abnormal pose of the robot actuator on the robot trajectory, an adaptive planning and adjustment method of trajectory based on virtual-real fusion was proposed. AR technology was introduced to couple with the robot kinematics model, and the hardware dependence on multiple sensors was replaced by synchronous comparison of three-dimensional virtual and real poses; AR gestures and voice interaction were combined to simplify the operation process; based on the actual pose of the actuator, the trajectory of the robot terminal axis was dynamically adjusted. The experimental results show that this method breaks through the technical and cost limitations of traditional calibration, reduces equipment requirements, and lowers deployment costs. The calibration efficiency is improved, and the requirement for operation professionalism is weakened. The adaptive planning and adjustment capability of the robot trajectory is enhanced, especially solving the defect that existing planning algorithms have mature responses to the external environment but insufficient responses to sudden changes in the pose of the actuator body. It provides a new paradigm with high adaptability and low cost for actuator pose calibration and trajectory optimization in robot operations.

Key words: digital twin, augmented reality, trajectory planning, pose calibration, robot, end effector

中图分类号:

TP391.9

秦浪,谢嘉成,乔晓军等 . 执行器位姿异常的机器人轨迹规划调整方法[J]. 系统仿真学报, 2026, 38(5): 1466-1483.

Qin Lang,Xie Jiacheng,Qiao Xiaojun,et al . Robot Trajectory Planning and Adjustment Method for Abnormal Pose of Actuator[J]. Journal of System Simulation, 2026, 38(5): 1466-1483.

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关节轴	连杆扭转角α/rad	连杆长度a/m	连杆偏距d/m	关节转角θ/m
关节1	π/2	0	d₁	θ₁
关节2	0	a₂	0	θ₂
关节3	0	a₃	0	θ₃
关节4	π/2	0	d₄	θ₄
关节5	-π/2	0	d₅	θ₅
关节6	0	0	d₆	θ₆

空间点	距离/m	横滚角/(°)	俯仰角/(°)	偏航角/(°)
A	0.859	127.066	-88.892	-127.165
B	1.038	-35.107	-74.522	10.927
C	0.984	-176.575	-39.089	175.736
D	0.882	-108.787	85.577	36.385
E	1.005	-32.998	28.935	156.788
F	0.998	103.439	-50.584	-143.583
G	0.998	-49.219	29.768	120.126
H	0.888	175.980	0.360	-176.807

空间点	距离/m	横滚角/(°)	俯仰角/(°)	偏航角/(°)
A	0.917	126.086	-89.888	-129.166
B	1.086	-34.785	-76.210	12.549
C	0.943	-175.060	-41.629	179.203
D	0.842	-105.190	83.143	37.563
E	0.991	-29.865	28.606	165.010
F	1.020	107.291	-51.019	-146.762
G	0.945	-50.293	27.944	127.280
H	0.898	181.964	-0.833	-175.400

空间点	距离/m	横滚角/(°)	俯仰角/(°)	偏航角/(°)
A	0.864	127.085	-88.887	-127.180
B	1.050	-35.101	-74.516	10.926
C	0.992	-176.584	-39.097	175.726
D	0.885	-108.762	85.576	36.404
E	1.007	-33.008	28.953	156.797
F	0.996	103.430	-50.600	-143.591
G	1.005	-49.224	29.788	120.117
H	0.902	175.988	0.360	-176.788

空间点	距离/m	横滚角/(°)	俯仰角/(°)	偏航角/(°)
A	0.850	127.079	-88.882	-127.172
B	1.050	-35.101	-74.516	10.931
C	0.981	-176.592	-39.083	175.739
D	0.891	-108.769	85.576	36.392
E	1.010	-32.999	28.944	156.797
F	1.007	103.437	-50.588	-143.587
G	0.996	-49.226	29.781	120.109
H	0.892	175.990	0.358	-176.804