基于FWA的柔性机械臂振动抑制轨迹规划
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摘要
为抑制柔性臂柔性关节的弹性振动,提出一种FWA优化算法结合傅里叶级数的轨迹规划方法。采用Lagrange法建立了柔性机械臂的动力学方程,得到了运动轨迹与残余振动的关系。以傅里叶级数的系数为待优化变量。运用FWA算法,获得待定变量的最优值,使得运动结束后机械臂末端残余振动最小,通过数值仿真验证了这种抑制振动方法是有效的。
To suppress the vibration of flexible manipulator, a trajectory planning method based on FWA optimization algorithm and Fourier series was proposed. The dynamic equation of the flexible manipulator was established by Lagrange method.The relationship between the trajectory and residual vibration was obtained. The coefficients of Fourier series are the variables to be optimized. By using FWA algorithm, the optimal value of undetermined variables was obtained, which minimizes the residual vibration at the end of the manipulator. The numerical simulation results show that the method is effective.
To suppress the vibration of flexible manipulator, a trajectory planning method based on FWA optimization algorithm and Fourier series was proposed. The dynamic equation of the flexible manipulator was established by Lagrange method.The relationship between the trajectory and residual vibration was obtained. The coefficients of Fourier series are the variables to be optimized. By using FWA algorithm, the optimal value of undetermined variables was obtained, which minimizes the residual vibration at the end of the manipulator. The numerical simulation results show that the method is effective.
引文
[1] Akira A.Minimum energy trajectory planning method for robot manipulator mounted on flexible base[C]//Control Conference,Istanbul:IEEE Press,2013:1-7.
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[4] Yang Y L ,We Y D,Lou J Q ,et al.Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator[J].Journal of Sound and Vibration,2018,422:318-342.
[5] Sabatini M,Gasbarri P,Manti R,et al.Vibration control of a flexible manipulator during on orbit operations[J].ActaAstronautica,2012,73(4/5):109-121.
[6] Abe A.Trajectory planning for flexible cartesian robot manipulator by using artifical neura lnetwork:numerical simulation and experimental verification[J].Robotica,2011,29(5):797-804.
[7] Liao Y H,Li D K,Tang G J.Motion planning for vibration reducing of free-floating redundant manipulators based on hybrid optimization approach[J].Chinese Aeronautics,2011,24(4):533-540.
[8] 辛鹏飞,荣吉利,杨永泰.基PSO优化算法的空间机械臂振动抑制研究[J].载人航天,2016,22(1):23-28.
[9] 徐文福,徐超,孟得山.基于粒子群优化的刚柔混合机械臂振动抑制规划[J].控制与决策,2014,29(4):632-638.
[10] 娄军强,魏燕定,李国平,等.基于遗传优化算法的柔性机械臂抑振轨迹规划研究[J].振动与冲击,2016,35(11):1-6.
[11] 杨永泰.空间柔性机械臂动力学建模、轨迹规划与振动抑制研究[D].北京:北京理工大学,2014.
[12] 吴立成,孙富春,孙增折,等.柔性空间机器人振动抑制轨迹规划算法[J].机器人,2003,26(3):250-254.
[13] 杨继运,余跃庆.柔性冗余度机器人运动规划的最小能量法[J].机械科学与技术,2000,19(5):719-721.
[14] 李光,刘领化.基于轨迹规划方法的单连杆柔性臂振动抑制[J].机械科学与技术,2012,31(8):1369-1376.
[15] 谭营,郑少秋.烟花算法研究进展[J].智能系统学报,2014,9(5):515-528.
[2] Akira A.Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation[J].Mechanism and Machine Theory,2009,44(9):1627-1639.
[3] Park K,Park Y.Fourier-based optimal design of a flexible manipulator path to reduce residual vibration of the endpoint[J].Robotica,1993,11(3):263-272.
[4] Yang Y L ,We Y D,Lou J Q ,et al.Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator[J].Journal of Sound and Vibration,2018,422:318-342.
[5] Sabatini M,Gasbarri P,Manti R,et al.Vibration control of a flexible manipulator during on orbit operations[J].ActaAstronautica,2012,73(4/5):109-121.
[6] Abe A.Trajectory planning for flexible cartesian robot manipulator by using artifical neura lnetwork:numerical simulation and experimental verification[J].Robotica,2011,29(5):797-804.
[7] Liao Y H,Li D K,Tang G J.Motion planning for vibration reducing of free-floating redundant manipulators based on hybrid optimization approach[J].Chinese Aeronautics,2011,24(4):533-540.
[8] 辛鹏飞,荣吉利,杨永泰.基PSO优化算法的空间机械臂振动抑制研究[J].载人航天,2016,22(1):23-28.
[9] 徐文福,徐超,孟得山.基于粒子群优化的刚柔混合机械臂振动抑制规划[J].控制与决策,2014,29(4):632-638.
[10] 娄军强,魏燕定,李国平,等.基于遗传优化算法的柔性机械臂抑振轨迹规划研究[J].振动与冲击,2016,35(11):1-6.
[11] 杨永泰.空间柔性机械臂动力学建模、轨迹规划与振动抑制研究[D].北京:北京理工大学,2014.
[12] 吴立成,孙富春,孙增折,等.柔性空间机器人振动抑制轨迹规划算法[J].机器人,2003,26(3):250-254.
[13] 杨继运,余跃庆.柔性冗余度机器人运动规划的最小能量法[J].机械科学与技术,2000,19(5):719-721.
[14] 李光,刘领化.基于轨迹规划方法的单连杆柔性臂振动抑制[J].机械科学与技术,2012,31(8):1369-1376.
[15] 谭营,郑少秋.烟花算法研究进展[J].智能系统学报,2014,9(5):515-528.