关键词: 轨迹规划, D-H模型, 牛顿下山法, 最短路径算法, 三次样条插值

Abstract: In order to achieve the high-speed smooth movement to play the badminton continuously for the manipulator of badminton robot, this paper proposes a new multi-objective trajectory optimization model of manipulator. To begin with, the optimization establishes the pose expression of manipulator through successive coordinate transformation, according to D-H model. After that, it uses the Newton descent method to solve the disaggregation of inverse kinematics for the given trajectory key points, then solves the optimal solution from the disaggregation of inverse kinematics by the shortest path algorithm. Finally, to achieve the continuous smooth trajectory of manipulator, it uses the cubic spline interpolation to establish the function of motors’ rotating angle, evolving in time, in accordance with the optimal solution. The results of experiments show that the new trajectory optimization model can effectively reduce?energy consumption of motor, increase the turning efficiency, and ensure the response?rate of manipulator sequentially.

Key words: trajectory planning, D-H model, Newton descent method, shortest path algorithm, cubic spline interpolation