基于时间最优的3R机械手轨迹规划研究
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摘要
在3R关节型机械手设计过程中,通过对机械手的速度、加速度、加加速度进行约束,在三次B样条插值的基础上,以达到机械手轨迹规划最优时间为目标,利用MATLAB遗传算法工具箱对各关节每段运动轨迹进行时间最短优化,并利用MATLAB进行轨迹规划运动仿真分析。仿真结果表明:该方法具有有效性,显著提高了机械手的工作效率。
In this article,the velocity,acceleration and variable acceleration were constrained in the process of designing 3 R-joint-type manipulator.On the basis of the three B spline interpolation,in order to obtain the optimal time plan for the trajectory of manipulator,each segment of the trajectories of each joint was carried out a minimum-time optimization based on MATLAB genetic algorithm toolbox.Carrying out the kinematic simulation analysis on the trajectory programming,a result came out,which indicated that this method is effective and improve the working efficiency of manipulators in great extent.
In this article,the velocity,acceleration and variable acceleration were constrained in the process of designing 3 R-joint-type manipulator.On the basis of the three B spline interpolation,in order to obtain the optimal time plan for the trajectory of manipulator,each segment of the trajectories of each joint was carried out a minimum-time optimization based on MATLAB genetic algorithm toolbox.Carrying out the kinematic simulation analysis on the trajectory programming,a result came out,which indicated that this method is effective and improve the working efficiency of manipulators in great extent.
引文
[1]凌家良,施荣华,王国才.工业机器人关节空间的插值轨迹规划[J].惠州学院学报,2009,29(3):52-57.
[2]杨国军,崔平远.机械手时间最优轨迹规划方法研究[J].中国机械工程,2002,13(20):1715-1717.
[3]Thompson Stuart E,Patel Rajnikant V.Formulation of joint trajectories for industrial robotssing B-Splines[J].IEEE Transactions on Industrial Electronics,1987,34(2):192-199.
[4]雷英杰,张善文,李续武.遗传算法工具箱及应用[M].西安:西安电子科技大学出版社,2005.
[2]杨国军,崔平远.机械手时间最优轨迹规划方法研究[J].中国机械工程,2002,13(20):1715-1717.
[3]Thompson Stuart E,Patel Rajnikant V.Formulation of joint trajectories for industrial robotssing B-Splines[J].IEEE Transactions on Industrial Electronics,1987,34(2):192-199.
[4]雷英杰,张善文,李续武.遗传算法工具箱及应用[M].西安:西安电子科技大学出版社,2005.