Robot Trajectory Planning and Adjustment Method for Abnormal Pose of Actuator

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

Abstract

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

CLC Number:

TP391.9

Qin Lang, Xie Jiacheng, Qiao Xiaojun, Wang Xuewen, Xiao Zhijie. 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