逆解多目标优化的六自由度机械手轨迹规划

doi:10.16182/j.issn1004731x.joss.20-0455

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (9): 2128-2137.doi: 10.16182/j.issn1004731x.joss.20-0455

逆解多目标优化的六自由度机械手轨迹规划

段现银¹, 张灿¹, 朱泽润², 孙朝阳², 蒋国璋¹, 向峰¹

1.武汉科技大学机械自动化学院机械传动与制造工程湖北省重点实验室,湖北武汉 430081;
2.华中科技大学数字制造装备与技术国家重点实验室,湖北武汉 430074

收稿日期:2020-07-08 修回日期:2020-08-24 出版日期:2021-09-18 发布日期:2021-09-17
作者简介:段现银(1986-)，男，博士，副教授，研究方向为工业机器人加工机理与规划等。E-mail：xyduan@wust.edu.cn
基金资助:
国家自然科学基金(51975431); 武汉科技大学国防预研基金(GF201914)

Trajectory Planning of 6-DOF Manipulator Based on Inverse Multi-objective Optimization

Duan Xianyin¹, Zhang Can¹, Zhu Zerun², Sun Zhaoyang², Jiang Guozhang¹, Xiang Feng¹

1. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, College of Mechanical Automation, Wuhan University of Science and Technology, Wuhan 430081, China;
2.State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China

Received:2020-07-08 Revised:2020-08-24 Online:2021-09-18 Published:2021-09-17

摘要/Abstract

摘要： 为优化机械手作业质量和效率,提出基于机械手刚度与全局行程最优的逆解多目标确定方法,建立机械手正运动学模型,运用行为树进行逆运动学求解。构建刚度性能评价指标与关节角总行程数学模型,进行逆解多目标优化。设计7-5-7次多项式关节空间插值算法进行轨迹规划,与常用的3次多项式规划方法相比,结果表明：7-5-7次多项式规划方法得到的机械手运行轨迹更加平稳顺滑。

关键词: 逆运动学, 机械手, 行为树, 刚度, 关节角行程, 轨迹规划

Abstract: In order to optimize the machining quality and production efficiency of manipulator, an inverse multi-objective determination method based on the optimization of manipulator stiffness and global travel is proposed. Establishing the forward kinematics model of manipulator, the inverse kinematics is solved by using behaviour tree. The stiffness performance evaluation index and the mathematical model of total stroke of joint angle are constructed to carry out the inverse solution multi-objective optimization. The 7-5-7 order polynomial joint space interpolation algorithm is designed for the trajectory planning. Compared with the commonly used cubic polynomial programming method, the manipulator trajectory obtained by the 7-5-7 order polynomial programming method is more stable and smoother.

Key words: inverse kinematics, manipulator, behaviour tree, stiffness, the motion range of joint, trajectory planning

中图分类号:

TP391.9

段现银, 张灿, 朱泽润, 孙朝阳, 蒋国璋, 向峰. 逆解多目标优化的六自由度机械手轨迹规划[J]. 系统仿真学报, 2021, 33(9): 2128-2137.

Duan Xianyin, Zhang Can, Zhu Zerun, Sun Zhaoyang, Jiang Guozhang, Xiang Feng. Trajectory Planning of 6-DOF Manipulator Based on Inverse Multi-objective Optimization[J]. Journal of System Simulation, 2021, 33(9): 2128-2137.

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逆解多目标优化的六自由度机械手轨迹规划

Trajectory Planning of 6-DOF Manipulator Based on Inverse Multi-objective Optimization

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