6R机器人轨迹规划目标逆解精度优化算法
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摘要
应用常规D-H建模方法,建立6R机器人正运动学模型。当模型存在误差时,轨迹规划目标逆解含有误差,实际运行轨迹无法满足机器人作业精度。提出将目标位姿与实际位姿间误差作为迭代目标,基于Levenberg-Marquardt方法求逆,利用含有误差的模型参数,实现逆解精度迭代优化,输出修正后的关节角逆解,可使机器人实际运动以所需作业精度接近轨迹规划目标位姿。经仿真验证,算法可完成复杂的轨迹规划逆解精度优化,且避免运动学模型高精标定与参数识别,有实际应用价值。
The forward kinematics model of the 6R serial robot was set up by using conventional D-H modeling method. when model has errors,the inverse solution of trajectory planning target contains errors,so the actual running trajectory can not satisfy the precision of robot operation. The error between the target pose and actual pose was proposed as iterative target. Based on the Levenberg-Marquardt method,the iterative solution precision was obtained through iterative optimization. with the model parameters containing errors,and the corrected inverse solution of joint angle was output,which can make the actual motion of the robot close to the target pose of trajectory planning with the desired operating precision. Simulation results show that the algorithm can solve optimization of inverse solution for complex trajectory planning,and avoid the high precision calibration and parameter identification of the kinematic model,which has the practically application value.
The forward kinematics model of the 6R serial robot was set up by using conventional D-H modeling method. when model has errors,the inverse solution of trajectory planning target contains errors,so the actual running trajectory can not satisfy the precision of robot operation. The error between the target pose and actual pose was proposed as iterative target. Based on the Levenberg-Marquardt method,the iterative solution precision was obtained through iterative optimization. with the model parameters containing errors,and the corrected inverse solution of joint angle was output,which can make the actual motion of the robot close to the target pose of trajectory planning with the desired operating precision. Simulation results show that the algorithm can solve optimization of inverse solution for complex trajectory planning,and avoid the high precision calibration and parameter identification of the kinematic model,which has the practically application value.
引文
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[11]邹丽梅,郭波,钱学毅.基于L-M方法的6R机器人轨迹规划快速逆解算法[J].制造业自动化,2016,38(10):92-94.ZOU L M,GUO B,QIAN X Y.Fast Inverse Solution Algorithm for Trajectory Planning of 6R Robot Based on L-M Method[J].Manufacturing Automation,2016,38(10):92-94.
[12]张平,梁艳阳,刘宏伟,等.工业机器人任务空间复杂姿态平滑过渡技术[J].机床与液压,2016,44(5):76-79.ZHANG P,LIANG Y Y,LIU H W,et al.Complex Orientation Smooth Transition Technique of Industrial Robot in Task Space[J].Machine Tool&Hydraulics,2016,44(5):76-79.
[2]MEGGIOLARO M A,SCRIFFIGNANO G,DUBOWSKY S.Manipulator Calibration Using A Single Endpoint Contact Constraint[C]//2000 ASME Design Engineering Technical Conference.Baltimore,2000.
[3]刘振宇,陈英林,曲道奎,等.机器人标定技术研究[J].机器人,2002,24(5):447-450.LIU Z Y,CHEN Y L,QU D K,et al.Research on Robot Calibration[J].Robot,2002,24(5):447-450.
[4]夏天,孙翰英,范嘉桢,等.虚拟封闭运动链法提高机器人运动学标定精度[J].机械设计与研究,2009,25(2):57-59.XIA T,SUN H Y,FAN J Z,et al.Research of Industrial Robot Calibration Based on Virtual Closed Kinematic Chain[J].Machine Design and Research,2009,25(2):57-59.
[5]王一,刘常杰,任永杰,等.工业坐标测量机器人定位误差补偿技术[J].机械工程学报,2011,47(15):31-36.WANG Y,LIU C J,REN Y J,et al.Compensation for Positioning Error of Industrial Coordinate Measurement Robot[J].Journal of Mechanical Engineering,2011,47(15):31-36.
[6]朱威,李成刚,徐兴明.工业机器人误差补偿技术的理论与实验研究[J].机械与电子,2011(2):77-80.ZHU W,LI C G,XU X M.Research on Theory and Experiment of the Industrial Robot Calibration[J].Machinery&Electronics,2011(2):77-80.
[7]甘屹,王均垒,孙福佳.基于给定工作空间的6R型机器人D-H参数优化设计[J].中国机械工程,2014,25(22):3003-3007.GAN Y,WANG J L,SUN F J.Optimal Design of D-H Parameters of a 6R Robot for a Prescribed Workspace[J].China Mechanical Engineering,2014,25(22):3003-3007.
[8]王一.测量机器人模型误差及标定方法的研究[D].天津:天津大学,2006.
[9]LEVENBERG K.A Method for the Solution of Certain Problems in Least Squares[J].Quarterly of Applied Mathematics,1944,2(2):164-166.
[10]MARQUARDT D W.An Algorithm for Least Squares Estimation of Nonlinear Parameters[J].Journal Society for Industrial&on Applied Mathematics,1963,11:431-441.
[11]邹丽梅,郭波,钱学毅.基于L-M方法的6R机器人轨迹规划快速逆解算法[J].制造业自动化,2016,38(10):92-94.ZOU L M,GUO B,QIAN X Y.Fast Inverse Solution Algorithm for Trajectory Planning of 6R Robot Based on L-M Method[J].Manufacturing Automation,2016,38(10):92-94.
[12]张平,梁艳阳,刘宏伟,等.工业机器人任务空间复杂姿态平滑过渡技术[J].机床与液压,2016,44(5):76-79.ZHANG P,LIANG Y Y,LIU H W,et al.Complex Orientation Smooth Transition Technique of Industrial Robot in Task Space[J].Machine Tool&Hydraulics,2016,44(5):76-79.