分拣机器人复杂工作空间下灵巧度控制方法  

The Control Method of a Complex Workspace and Dexterities of Sorting Robots

作　　者：柯江岩 林荣川 KE Jiangyan;LIN Rongchuan(School of Mechanical and Energy Engineering,Jimei University,Xiamen 361021,China)

机构地区：[1]集美大学机械与能源工程学院,福建厦门361021

出　　处：《集美大学学报（自然科学版）》2020年第6期461-467,共7页Journal of Jimei University：Natural Science

基　　金：福建省自然科学基金项目(2019J01709);厦门市重大科技项目3502Z20191022。

摘　　要：针对分拣机器人在复杂工作空间中运动行为存在冗余性,导致灵巧度控制效果较差的问题,提出基于分拣机器人运动行为在复杂工作空间下灵巧度的控制方法。通过机器人正运动学建模,获取运动云图节点,提取分拣机器人复杂工作空间边界曲线,根据边界曲线中空间节点排列方式,给定性能优化运动指标,求解机器人分拣行为逆运动学,得到求导与定义最优组合解,确定机器人工作空间外界范围曲线。设置框架体关节之间初始限制角度,以及运动学速度、终止运动学速度之间存在的物理夹角,控制机器结构体行为学位置,实现分拣机器人灵巧度控制。仿真实验结果表明,优化后分拣机器人运动工作空间范围取值和运动灵巧度数值较大,机器人结构的平稳运动能力较强,灵巧度控制效果较好。In order to solve the problem of poor dexterity control caused by redundant motion behavior of sorting robot in complex workspace,a complex workspace and dexterity control method based on sorting robot motion behavior was proposed.The initial limiting angle between the joints of the frame body and the physical angle between the kinematic speed and the terminal kinematic speed are set to control the behavior position of the machine structure to realize the dexterity control of the sorting robot.Through the robot forward kinematics modeling,the movement cloud image nodes were obtained,and the boundary curve of the sorting robot complex workspace was extracted.According to the spatial node arrangement in the boundary curve,the performance optimization motion index was given,and the inverse kinematics of the robot sorting behavior was solved,and the optimal combination solution of derivation and definition was obtained,and the external range curve of the robot workspace was determined.The simulation results show that the range of workspace and the dexterity of the sorting robot are large,the stable motion ability of the robot structure is strong,and the dexterity control effect is good,which can meet the requirements of dexterity control and has high stability.

关 键 词：分拣机器人 工作空间 灵巧度 运动学建模 边界曲线 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]