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

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

Abstract

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

CLC Number:

TP391.9

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.

References

[1] Sun J D, Cao G Z, Li W B, et al.Analytical Inverse Kinematic Solution Using the D-H Method For a 6-DOF robot[C]//2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). South Korea: IEEE, 2017: 251-254.
[2] Mohammed E W, Bouteraa Y, Elmogy A.An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators[J]. Robotics (S2218-6581), 2020, 9(1): 4.
[3] Koukos-Papagiannis C, Moulianitis V, Aspragathos N.Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator[J]. Robotics (S2218-6581), 2020, 9(2):20.
[4] Sapmaz Ö F, Tunç L T.Tool Axis Optimization for Robotic 5-axis Milling Considering Kinematics[C]//2018 14^th Conference on High Speed Machining Conference. San Sebastian: 2018(52): 9-17.
[5] 李黎, 尚俊云, 冯艳丽, 等. 关节型工业机器人轨迹规划研究综述[J]. 计算机工程与应用, 2018, 54(5): 36-50.
Li Li, Shang Junyun, Feng Yanli, et al.Review on Trajectory Planning of Articulated Industrial Robots[J]. Computer Engineering and Application, 2018, 54(5): 36-50.
[6] Xiong G, Ding Y, Zhu L M.Stiffness-based Pose Optimization of an Industrial Robot for Five-axis Milling[J]. Robotics & Computer Integrated Manufacturing (S0736-5845), 2019, 55: 19-28.
[7] Alici G, Shirinzadeh B. Enhanced Stiffness Modeling, Identification and Characterization for Robot Manipulators[J]. IEEE Trans. Robot(S1552-3098), 2005, 21(4): 554-564.
[8] Dumas C, Stéphane C, Sébastien G, et al.Joint Stiffness Identification of Six-revolute Industrial Serial Robots[J]. Robotics and Computer-Integrated Manufacturing (S0736-5845), 2011, 27(4): 881-888.
[9] Chen C, Fangyu P, Rong Y, et al.Stiffness Performance Index Based Posture and Feed Orientation Optimization in Robotic Milling Process[J]. Robotics and Computer- Integrated Manufacturing (S0736-5845), 2019, 55: 29-40.
[10] Yang K, Yang W, Cheng G, et al.A New Methodology for Joint Stiffness Identification of Heavy Duty Industrial Robots with the Counterbalancing System[J]. Robotics and Computer-Integrated Manufacturing(S0736-5845), 2018, 53(8): 58-71.
[11] 原新. 六自由度机械臂关节空间轨迹规划方法研究[C]//第28届中国控制与决策会议论文集(上). 新加坡: IEEE, 2014: 632-636.
Yuan Xin.Research on Joint Space Trajectory Planning Method of 6-DOF Manipulator[C]//28^th China Conference on control and decision making(1). Singapore: IEEE, 2014: 632-636.
[12] 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): 13-19.
Liu Yajun, Huang Tian.Inverse Kinematics Analysis and Trajectory Planning of 6R Manipulator[J]. Journal of Mechanical Engineering, 2012, 48(3): 13-19.
[13] Piazzi A, Visioli A.Global Minimum-jerk Trajectory Planning of Robot Manipulators[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2000, 47(1): 140-149.
[14] Wang H, Wang H, Huang J H, et al.Smooth Point-to-point Trajectory Planning for Industrial Robots with Kinematical Constraints Based on High-order Polynomial Curve[J]. Mechanism and Machine Theory (S0094-114X), 2019, 139(9): 284-293.
[15] Zhang D, Hannaford B.IKBT: Solving Symbolic Inverse Kinematics with Behavior Tree[J]. Journal of Artificial Intelligence Research (S1076-9757), 2019, 65(5): 457-486.
[16] Guo Y, Dong H, Ke Y.Stiffness-oriented Posture Optimization in Robotic Machining Applications[J]. Robotics and Computer-Integrated Manufacturing (S0736-5845), 2015, 35(6): 69-76.