装砖码垛机器人时间-冲击最优轨迹规划  

Time-jerk Optimal Trajectory Planning of Brick Palletizing Robot

作　　者：吕鲲[1] 陈宗元 张业明[1] LYU Kun;CHEN Zongyuan;ZHANG Yeming(School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454000, China)

机构地区：[1]河南理工大学机械与动力工程学院

出　　处：《机械工程师》2019年第9期1-4,8,共5页Mechanical Engineer

基　　金：河南省科技攻关项目(172102310674);山东省高等学校科技计划项目(J13LB04)

摘　　要：为了提高装砖码垛机器人的工作效率,同时减小振动对机器人的影响,基于三次样条插值法,提出一种使机器人轨迹最优的规划方法,对各关节进行轨迹规划。利用权重系数法定义目标函数,以运动学和动作时间为约束条件,使码垛机器人在运行过程中其时间和冲击达到综合最优。采用遗传算法求解出最优时间序列,进一步求解出最优轨迹。研究结果表明:末端轨迹跟踪误差在合理的范围之内,该方法在装砖码垛机器人轨迹规划方面是可行的、合理的;可以为工作效率与冲击等矛盾问题到达综合最优提供一种解决方案。In order to improve the working efficiency of the brick palletizing robot and reduce the influence of vibration on the robot, based on the cubic spline interpolation method, a planning method for optimizing the robot trajectory is proposed, and the trajectory planning is performed on each joint. Using the weight coefficient method to define the objective function, with kinematics and action time as constraints, the palletizing robot achieves comprehensive optimization in terms of time and jerk during the running process. The genetic algorithm is used to solve the optimal time series, and the optimal trajectory is further solved. The research results show that the tracking error varies within a reasonable range. This method is feasible and reasonable in the trajectory planning of the brick palletizing robot;it can provide a solution to the comprehensive optimization of the contradiction between work efficiency and jerk.

关 键 词：装砖码垛机器人 时间-冲击最优 轨迹优化 遗传算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]