多功能拆除机器人自动对接工具轨迹规划研究  

Research on Trajectory Planning of Multi-function Demolition Robot Automatic Docking Tool

作　　者：段伟雄 邹树梁 任宇宏 邓骞[1,2] DUAN Weixiong;ZOU Shuliang;REN Yuhong;DENG Qian(School of Mechanical Engineering,University of South China,Hengyang,Hunan 421001,China;Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities,Hengyang,Hunan 421001,China;CNNC Jianzhong Nuclear fuel Co.,Ltd.,Yibin,Sichuan 644000,China)

机构地区：[1]南华大学机械工程学院,湖南衡阳421001 [2]核设施应急安全作业技术与装备湖南省重点实验室,湖南衡阳421001 [3]中核建中核燃料元件有限公司,四川宜宾644000

出　　处：《南华大学学报（自然科学版）》2019年第6期77-83,共7页Journal of University of South China：Science and Technology

基　　金：湖南省军民融合产业发展专项资金项目(2017JMH01);湖南省教育厅科学研究项目(16B227)

摘　　要：为保证多功能拆除机器人机械臂在自动对接工具过程中的轨迹平稳连续和启停无冲击,提出了一种可配置速度的分段轨迹规划方法,即首先利用Bezier曲线生成其避障对接路径,然后在关节空间利用4-4-…-4-5次多项式对其对接路径进行分段插值。最后,以某型三臂式多功能拆除机器人对接工具为例,通过Matlab进行仿真,结果表明:4-4-…-4-5次多项式插值轨迹规划方法保证了多功能拆除机器人各关节角角度、角速度和角加速均连续,且启停位置具有零速度和零加速度,为实现多功能拆除机器人自动对接工具提供了基础。In order to ensure the trajectory of the multi-function demolition robot in the process of automatic docking tool is smooth and continuous with no impact on the start-stop,a segmented trajectory planning method with configurable speed is proposed.Firstly,the Bezier curve is used to generate the obstacle avoidance docking path.Secondly,a 4-4-…-4-5 polynomial is used to perform segmentation interpolation on its docking path in joint space.Finally,taking the docking tool of a three-arm multi-function demolition robot docking tool as an example,the simulation is carried out by Matlab.The results show that the 4-4-…-4-5 polynomial interpolation trajectory planning method ensures that the angle,angular velocity and angular acceleration of each joint of the multi-function demolition robot are continuous,and the start-stop position has zero velocity and zero acceleration,which provides the basis for automatic docking tool of the multi-function demolition robot.

关 键 词：多功能拆除机器人 自动对接 BEZIER曲线 分段轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]