基于操纵平稳性的液压挖掘机轨迹规划方法  

Trajectory planning for hydraulic excavating machine based on manipulating stability

作　　者：潘双夏[1] 季炳伟[1] 童永峰[2] 

机构地区：[1]浙江大学机械与能源工程学院,浙江杭州310027 [2]浙江财经学院数学与统计学院,浙江杭州310012

出　　处：《浙江大学学报（工学版）》2006年第8期1311-1314,共4页Journal of Zhejiang University：Engineering Science

基　　金：国家"863"高技术研究发展计划资助项目(2001AA422130);国家自然科学基金资助项目(50275132;50335040)

摘　　要：以既能达到良好的轨迹规划精度,又有优良的操纵平稳性为目标,提出了一种挖掘机器人的智能轨迹规划方法.以挖掘姿态角为优化变量;油缸进程和加速度梯度为双目标;位置盲角和最佳切削范围为约束建立优化数学模型,采用遗传算法寻找最优值.对3种规划策略:被动修正法、主动调整法和智能规划法进行了行程和速度梯度对比,结果表明,采用优化规划方法可以大幅减少液压系统冲击和振动,使挖掘机操纵更加平稳.An intelligent trajectory planning method was proposed to obtain an accurate trajectory with good manipulating stability. An optimization model was built with the variables of excavating angles, the targets of hydraulic cylinder＇s moving and acceleration grades, and the restrictions of condition blind angle and best cutting angle range. The genetic algorithm was adopted to find the optimizing answer. The contrast results of three different planning methods given in the end including the passive correction, active adjustment, and the optimization planning methods, showed that the optimizing planning method can reduce the hydraulic system＇s impulsion and oscillation, and improve the manipulation stability effectively.

关 键 词：轨迹规划 操作稳定性 优化算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]