基于虚拟样机的挖掘机器人轨迹规划控制仿真和优化技术研究  

Study on the Techniques of Simulation and Optimization for a Robotic Excavator Trajectory Plan Control Using Virtual Prototyping Technology

作　　者：潘双夏[1] 刘静[1] 冯培恩[1] 

机构地区：[1]浙江大学流体传动与控制国家重点实验室,杭州310027

出　　处：《中国机械工程》2005年第21期1926-1930,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50335040);国家863高技术研究发展计划资助项目(2001AA422130)

摘　　要：阐述了用虚拟样机技术进行挖掘机器人轨迹规划控制的仿真和优化的必要性;提出了轨迹规划控制的实现方案,分析了关键技术及其解决方法,重点研究了用挖掘机器人虚拟样机进行控制系统参数优化和轨迹规划仿真实验的方法,并以动态响应特性的仿真为例,用物理样机的相应实验结果验证了虚拟样机轨迹规划控制仿真实验模型的正确性;借助在虚拟样机上的仿真实验,分析了液压系统流量分配对轨迹规划效果的影响,提出了轨迹规划的改进措施,用以提高轨迹规划的速度和轨迹跟踪的精度。The necessity of simulation and optimization for robotic trajectory planning and tracking was proposed using virtual prototyping technology. The developing scheme, key technologies and solving methods were given. The emphases were put on the optimization method of control system parameters and trajectory plan simulation tests using virtual robotic excavator prototype. The trajectory planning simulation test results of the virtual prototype are validated trough real tests on a physical robotic excavator, taking the dynamic response property simulation as an example. The influences of volume distribution among different hydraulic systems circuits were analyzed through simulation tests on virtual prototype in the end, and the improvement method for the trajectory planning was given in order to improve the trajectory planning velocity and trajectory tracking precision. The work is helpful for realizing ultimate optimization of the property of planner and controllers for the robotic excavator.

关 键 词：挖掘机器人 虚拟样机 轨迹规划控制及优化 仿真实验 

分 类 号：TU621[建筑科学—建筑技术科学] TP391.9[自动化与计算机技术—计算机应用技术]