基于时间最优的码垛机器人轨迹规划
|
摘要
运动轨迹规划是机器人应用领域的1个重要课题。对于四轴码垛机器人来说,它的运行时间是否最优,运动轨迹是否平滑,将直接影响到码垛的效率。针对码垛机器人的高效性要求,提出了一种基于时间最优的轨迹规划方案。通过机器人运动学逆解计算得到与任务空间轨迹对应的关节空间位置序列,采用三次样条插值方法,实现角位移,角速度和角加速度连续。在角速度、角加速度和角加加速度的约束下,将模式搜索法用于机器人时间最优轨迹规划。仿真和实验结果表明,提出的轨迹规划方案能够提供理想的轨迹,且能够提高码垛机器人的工作效率。
Motion trail is an important issue in the field of robotic applications.For the four-axis palletizing robot,it will directly affect the palletizing efficiency if the running time is not optimal or the trajectory is not smooth.Aimed at the efficiency requirements of the palletizing robot,this paper proposes an optimal trajectory planning scheme based on the optimal time.The position of the joint space corresponding to the space sequence task is calculated by the kinematics inverse solution,and then the cubic spline interpolation method is used to make the angular displacement,angular velocity and angular acceleration continuous.Under the constraints of the angular velocity,angular acceleration and angle acceleration,the pattern search algorithm is used for the optimal time of robot trajectory planning.The simulation and test results show that trajectory planning can provide an ideal trajectory and can also improve the work efficiency of palletizing robots.
Motion trail is an important issue in the field of robotic applications.For the four-axis palletizing robot,it will directly affect the palletizing efficiency if the running time is not optimal or the trajectory is not smooth.Aimed at the efficiency requirements of the palletizing robot,this paper proposes an optimal trajectory planning scheme based on the optimal time.The position of the joint space corresponding to the space sequence task is calculated by the kinematics inverse solution,and then the cubic spline interpolation method is used to make the angular displacement,angular velocity and angular acceleration continuous.Under the constraints of the angular velocity,angular acceleration and angle acceleration,the pattern search algorithm is used for the optimal time of robot trajectory planning.The simulation and test results show that trajectory planning can provide an ideal trajectory and can also improve the work efficiency of palletizing robots.
引文
[1]Gasparetto A,Zanotto V.A technique for time-jerk optimal planning of robot trajectories[J].Robotics and Computer-Integrated Manufacturing,2008,24(3):415-426.
[2]Srinivas M,Patna IK L M.Adaptive probabilities of crossover and mutation in genetic algorithm[J].IEEE Trans on Systems,Man and Cybernetics,1994,24(4):656-667.
[3]Jiang H Y.Month SQP methods for mathematical programs with nonlinear complementarities constants[J].Society for Industrial and Applied Mathematics,1999,10(3):779-808
[4]周小燕,高峰,鲍官军,等.基于IAGA的机械手时间最优轨迹规划[J].机电工程,2009,26(8):1-3.Zhou X Y,Gao F,Bao G J,et al.Time-optimal trajectory planning for robot manipulators based on improved adaptive genetic algorithm[J].Mechanical&Electrical Engineering Magazine,2009,26(8):1-3.
[5]林仕高,刘晓麟,欧元贤.基于5次多项式的机械手姿态平滑规划算法[J].制造业自动化,2013(21):16-17.Lin S G,Liu X L,Ou Y X.Smooth orientation planning of the manipulators based on quintic polynormial[J].Manufacturing Automation,2013(21):16-17.
[6]陈伟华.工业机器人笛卡尔空间轨迹规划的研究[D].广州:华南理工大学,2010.Chen W H.Study of Industrial Robot Trajectory Planning in Cartesian Space[D].Guangzhou:South China University of Technology,2010.
[7]谭冠政,徐雄,肖宏峰.工业机器人实时高精度路径跟踪与轨迹规划[J].中南大学学报,2005,36(1):102-107.Tan G Z,Xu X,Xiao H F.Real-time and accurate hand path tracking and joint trajectory planning for industrial robots[J].Journal of Central South University(Science and Technology),2005,36(1):102-107.
[8]刘松国.六自由度串联机器人运动优化与轨迹跟踪控制研究[D].杭州:浙江大学,2008.Liu S G.Research on motion planning and trajectory tracking control of Six-DOF serial robots[D].Hangzhou:Zhejiang University,2008.
[9]刘亚军,黄田.6R操作臂逆运动学分析与轨迹规划[J].机械工程学报,2012,48(3):9-15.Liu Y J,Huang T.Inverse kinematics and trajectory planning of 6r serial manipulators[J].Journal of Mechanical Engineering,2012,48(3):9-15.
[10]王鲁平,朱华炳,秦磊.基于MATLAB的工业机器人码垛单元轨迹规划[J].组合机床与自动化加工技术,2014(11):128-132.Wang L P,Zhu H B,Qin L.Trajectory planning for an industrial manipulator work cell based on MATLAB[J].Modular Machine Tool&Automatic Manufacturing Technique,2014(11):128-132.
[11]吕亭强,罗庆生,姚猛.工业码垛机器人示教技术的研究与改进[J].计算机测量与控制,2011,19(4):950.Lv T Q,Luo Q S,Yao M.Research and improvement in industrial palletizing robot's teaching technology[J].Computer Measurement&Control,2011,19(4):950.
[12]李东洁,邱江艳,尤波.一种机器人轨迹规划的优化算法[J].电机与控制学报,2009,13(1):124-127.Li D J,Qiu J Y,You B.Optimal algorithm for trajectory planning of the robot[J].Electric Machines and Control,2009,13(1):124-127.
[13]陈丹.基于遗传算法的B样条曲线优化在机器人轨迹规划中应用[D].武汉:武汉科技大学,2007.Chen D.The optimal B-spline based on Genetic Algorithm and its use in the robot trajectory planning[D].Wuhan:Wuhan University of Science and Technology,2007.
[14]勾治践,牛永康,王成.基于B样条的6R机器人轨迹规划及仿真[J].煤矿机械,2013,34(2):48-50.Gou Z J,Niu Y K,Wang C.Trajectory planning and simulation of 6r robot based on B-splines[J].Coal Mine Machinery,2013,34(2):48-50.
[15]蔡锦达,张剑皓,秦绪祥.六轴工业机器人的参数辨识方法[J].控制工程,2013,20(5):805-808.Cai J D,Zhang J H,Qin X X.Parameter identification method of6-axis industrial robot[J].Control Engineering of China,2013,20(5):805-808.
[16]贾梓筠,宋永端.基于指令预处理的机器人平滑运动控制研究[J].控制工程,2013,20(1):63-68.Jia Z J,Song Y D.Pre-Processing based approach for smooth motion control of robots study[J].Control Engineering of China,2013,20(1):63-68.
[2]Srinivas M,Patna IK L M.Adaptive probabilities of crossover and mutation in genetic algorithm[J].IEEE Trans on Systems,Man and Cybernetics,1994,24(4):656-667.
[3]Jiang H Y.Month SQP methods for mathematical programs with nonlinear complementarities constants[J].Society for Industrial and Applied Mathematics,1999,10(3):779-808
[4]周小燕,高峰,鲍官军,等.基于IAGA的机械手时间最优轨迹规划[J].机电工程,2009,26(8):1-3.Zhou X Y,Gao F,Bao G J,et al.Time-optimal trajectory planning for robot manipulators based on improved adaptive genetic algorithm[J].Mechanical&Electrical Engineering Magazine,2009,26(8):1-3.
[5]林仕高,刘晓麟,欧元贤.基于5次多项式的机械手姿态平滑规划算法[J].制造业自动化,2013(21):16-17.Lin S G,Liu X L,Ou Y X.Smooth orientation planning of the manipulators based on quintic polynormial[J].Manufacturing Automation,2013(21):16-17.
[6]陈伟华.工业机器人笛卡尔空间轨迹规划的研究[D].广州:华南理工大学,2010.Chen W H.Study of Industrial Robot Trajectory Planning in Cartesian Space[D].Guangzhou:South China University of Technology,2010.
[7]谭冠政,徐雄,肖宏峰.工业机器人实时高精度路径跟踪与轨迹规划[J].中南大学学报,2005,36(1):102-107.Tan G Z,Xu X,Xiao H F.Real-time and accurate hand path tracking and joint trajectory planning for industrial robots[J].Journal of Central South University(Science and Technology),2005,36(1):102-107.
[8]刘松国.六自由度串联机器人运动优化与轨迹跟踪控制研究[D].杭州:浙江大学,2008.Liu S G.Research on motion planning and trajectory tracking control of Six-DOF serial robots[D].Hangzhou:Zhejiang University,2008.
[9]刘亚军,黄田.6R操作臂逆运动学分析与轨迹规划[J].机械工程学报,2012,48(3):9-15.Liu Y J,Huang T.Inverse kinematics and trajectory planning of 6r serial manipulators[J].Journal of Mechanical Engineering,2012,48(3):9-15.
[10]王鲁平,朱华炳,秦磊.基于MATLAB的工业机器人码垛单元轨迹规划[J].组合机床与自动化加工技术,2014(11):128-132.Wang L P,Zhu H B,Qin L.Trajectory planning for an industrial manipulator work cell based on MATLAB[J].Modular Machine Tool&Automatic Manufacturing Technique,2014(11):128-132.
[11]吕亭强,罗庆生,姚猛.工业码垛机器人示教技术的研究与改进[J].计算机测量与控制,2011,19(4):950.Lv T Q,Luo Q S,Yao M.Research and improvement in industrial palletizing robot's teaching technology[J].Computer Measurement&Control,2011,19(4):950.
[12]李东洁,邱江艳,尤波.一种机器人轨迹规划的优化算法[J].电机与控制学报,2009,13(1):124-127.Li D J,Qiu J Y,You B.Optimal algorithm for trajectory planning of the robot[J].Electric Machines and Control,2009,13(1):124-127.
[13]陈丹.基于遗传算法的B样条曲线优化在机器人轨迹规划中应用[D].武汉:武汉科技大学,2007.Chen D.The optimal B-spline based on Genetic Algorithm and its use in the robot trajectory planning[D].Wuhan:Wuhan University of Science and Technology,2007.
[14]勾治践,牛永康,王成.基于B样条的6R机器人轨迹规划及仿真[J].煤矿机械,2013,34(2):48-50.Gou Z J,Niu Y K,Wang C.Trajectory planning and simulation of 6r robot based on B-splines[J].Coal Mine Machinery,2013,34(2):48-50.
[15]蔡锦达,张剑皓,秦绪祥.六轴工业机器人的参数辨识方法[J].控制工程,2013,20(5):805-808.Cai J D,Zhang J H,Qin X X.Parameter identification method of6-axis industrial robot[J].Control Engineering of China,2013,20(5):805-808.
[16]贾梓筠,宋永端.基于指令预处理的机器人平滑运动控制研究[J].控制工程,2013,20(1):63-68.Jia Z J,Song Y D.Pre-Processing based approach for smooth motion control of robots study[J].Control Engineering of China,2013,20(1):63-68.