挖掘机的最优时间轨迹规划
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摘要
利用分段的多项式插值方法对挖掘机自主作业时的运动轨迹进行规划,存在优化轨迹不平滑或各关节存在不必要的往复运动等问题,导致挖掘机各关节受到较大冲击,影响挖掘机的使用寿命。针对挖掘轨迹规划存在的问题,提出了基于4-3-3-3-4多项式的关节角度分段插值策略以实现挖掘机最优时间轨迹规划。该策略利用4-3-3-3-4多项式,以角速度和角加速度为约束条件,采用差分进化算法求取插值时间的最优值,得到了各关节最优角度曲线,实现了挖掘机最优时间轨迹规划。对基于4-3-3-3-4多项式分段插值策略进行仿真试验,并在相同条件下与其他多项式插值策略进行了对比。试验结果表明,该多项式插值策略得到的挖掘轨迹更加平滑,各关节能够以较小的角速度和角加速度的变化到达目标点,避免了各关节在运行过程中产生较大冲击,同时节省了工作时间,使得挖掘机自主作业更加平稳高效。
Using piece-wise polynomial interpolation method to plan the trajectory of the excavator's autonomous operation, there were some problems(the optimization trajectory is not smooth or the joints have unnecessary reciprocating movement)which leads to the large impact of the excavator joints and affects the service life of the excavator. In order to solve the problem of mining trajectory planning, the joint angle piece-wise interpolation strategy based on 4-3-3-3-4 polynomial is proposed to realize the optimal time trajectory planning of the excavator. Using the 4-3-3-3-4 polynomial, with angular velocity and angular acceleration as constraint conditions, the optimal value of interpolation time is obtained by using the differential evolution algorithm(DE), the optimal angle curve of each joint is achieved, and the optimal time trajectory planning of the excavator is realized. The simulation experiment based on 4-3-3-3-4 polynomial piece-wise interpolation strategy is carried out and compared with other polynomial interpolation strategies under the same conditions. The experimental results show that the mining trajectory of the polynomial interpolation strategy is smoother and the joints can reach the target point with small angular velocity and angular acceleration. It avoided the large impact during the operation of the joints and saved the working time, which made the excavator operate more smoothly and efficiently.
Using piece-wise polynomial interpolation method to plan the trajectory of the excavator's autonomous operation, there were some problems(the optimization trajectory is not smooth or the joints have unnecessary reciprocating movement)which leads to the large impact of the excavator joints and affects the service life of the excavator. In order to solve the problem of mining trajectory planning, the joint angle piece-wise interpolation strategy based on 4-3-3-3-4 polynomial is proposed to realize the optimal time trajectory planning of the excavator. Using the 4-3-3-3-4 polynomial, with angular velocity and angular acceleration as constraint conditions, the optimal value of interpolation time is obtained by using the differential evolution algorithm(DE), the optimal angle curve of each joint is achieved, and the optimal time trajectory planning of the excavator is realized. The simulation experiment based on 4-3-3-3-4 polynomial piece-wise interpolation strategy is carried out and compared with other polynomial interpolation strategies under the same conditions. The experimental results show that the mining trajectory of the polynomial interpolation strategy is smoother and the joints can reach the target point with small angular velocity and angular acceleration. It avoided the large impact during the operation of the joints and saved the working time, which made the excavator operate more smoothly and efficiently.
引文
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[2]LIN C S,CHANG P R,LUH J Y S.Formulation and optimization of cubic polynomial joint trajectories for industrial robots[J].Automatic Control IEEE Transactions on,1983,28(12):1066-1074.
[3]管成,王飞,张登雨.基于NURBS的挖掘机器人时间最优轨迹规划[J].吉林大学学报,2015,45(2):540-546.GUAN Cheng,WANG Fei,ZHANG Dengyu.Time optimal trajectory planning based on NURBS for mining robots[J].Journal of Jilin University,2015,45(2):540-546.
[4]QIANG L,LIU H,YUAN S.High accurate interpolation of NURBS tool path for CNC machine tools[J].Chinese Journal of Mechanical Engineering,2016,29(5):911-920.
[5]徐海黎,解祥荣,庄健,等.工业机器人的最优时间与最优能量轨迹规划[J].机械工程学报,2010,46(9):19-25.XU Haili,XIE Xiangrong,ZHUANG Jian,et al.Optimum robots[J].Journal of Mechanical Engineering,2010,46(9):19-25.
[6]马强.六自由度机械臂轨迹规划研究[D].哈尔滨:哈尔滨工程大学,2007.MA Qiang.Study on trajectory planning of six-freedom manipulator[D].Harbin:Harbin Engineering University,2007.
[7]张文佳,尚伟伟.2自由度绳索牵引并联机器人的高速点到点轨迹规划方法[J].机械工程学报,2016,52(3):1-8.ZHANG Wenjia,SHANG Weiwei.High-speed point-to-point trajectory planning of a 2-DOF cable driven parallel manipulator[J].Journal of Mechanical Engineering,2016,52(3):1-8.
[8]SHI Y,EBERHART R.Modified particle swarm optimizer[C]//IEEE International Conference on Evolutionary Computation Proceedings,May 4-9,1998,Anchorage,USA.New York:IEEE,2002:69-73.
[9]TAFAZOLI S,LAWRENCE P D,SALCUDEAN S E.Identification of inertial and friction parameters for excavator arms[J].Robotics&Automation IEEETransactions on,1999,15(5):966-971.
[10]张大庆.液压挖掘机工作装置运动控制研究[D].长沙:中南大学,2006.ZHANG Daqing.Research on motion control of hydraulic excavator working device[D].Changsha:Central South University,2006.
[11]WANGHUI B U,LIU Z.Motion planning for industrial robots based on task process decomposition[J].Chinese Journal of Mechanical Engineering,2010,23(2):135-141.
[12]TASGETIREN M F,PAN Q K,SUGANTHAN P N,et al.A differential evolution algorithm with variable parameter search for real-parameter continuous function optimization[C]//IEEE Congress on Evolutionary Computation,May 18-21,2009,Trondheim,Norway.New York:IEEE,2009:1247-1254.
[13]付荣,居鹤华.基于粒子群优化的时间最优机械臂轨迹规划算法[J].信息与控制,2011,40(6):802-808.FU Rong,JU Hehua.Time-optimal robot arm trajectory planning algorithm based on particle swarm optimization[J].Information and Control,2011,40(6):802-808.
[14]李海虹,林贞国,杜娟,等.挖掘机自主挖掘分段可变阶多项式轨迹规划[J].农业机械学报,2016,47(4):319-325.LI Haihong,LIN Zhenguo,DU Juan,et al.Excavator autonomously taps subsection variable-order polynomial trajectory planning[J].Transactions of the Chinese Society of Agricultural Machinery,2016,47(4):319-325.