基于稳定性的欠约束协调吊运系统轨迹规划  

Trajectory Planning of Under-Constrained Coordinated Lifting System Based on Stability

作　　者：张李扬 赵志刚[1] 姬笑磊 ZHANG Li-yang;ZHAO Zhi-gang;JI Xiao-lei(College of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou Gansu 730070,China)

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070

出　　处：《计算机仿真》2020年第8期291-296,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(51265021);教育部科学技术研究重点项目(212184)。

摘　　要：针对多机器人协调吊运系统的轨迹规划问题,提出了一种力率比值稳定性分析方法,并在其基础上通过分层搜索及最短路径规划方法对机器人末端轨迹进行了规划。首先建立了吊运系统的运动学和动力学模型并对逆解进行了分析,然后分析了多机协调吊运系统的稳定性,当比值越接近于1时系统的稳定性越好,接下来引入分层搜索算法并在每个层面通过稳定性评价得到最优解,以最短路径作为目标函数进行轨迹规划。最后对重物实现空间直线轨迹进行了仿真,结果表明稳定性评价方法对机器人末端轨迹规划是有效可行的。Aiming at the trajectory planning problem of multi-robot coordinated lifting system,a force-change rate ratio stability analysis method is proposed.Based on the hierarchical search and discrete feasible planning method,the robot end trajectory was planned.Firstly,the kinematics and dynamics model of the lifting system was established and the inverse solution was analyzed.Then,the stability of the multi-robot coordinated lifting system was analyzed.When the ratio was closer to 1,the stability of the system was better.A hierarchical search algorithm was introduced and the optimal solution was obtained through stability evaluation at each level,and the shortest path was used as the objective function for trajectory planning.Finally,the space straight trajectory of the weight was simulated.The results show that the stability evaluation method is effective and feasible for the robot end trajectory planning.

关 键 词：吊运系统 多机器人系统 轨迹规划 稳定性评价 分层搜索 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]