冗余喷涂机器人的帕累托优化解集流形分析  

Manifold Analysis of Pareto Optimization Solution Set for Redundant Spraying Robot

作　　者：易强 吴加富 宋子瑜 YI Qiang;WU Jiafu;SONG Ziyu(Suzhou Ruisai Precision Tools Co.,Ltd.,Suzhou,Jiangsu Province,215104 China;Suzhou Funaair Technology Co.,Ltd.,Suzhou,Jiangsu Province,215009 China;School of Automation,Beijing Institute of Technology,Beijing,100102 China)

机构地区：[1]苏州瑞赛精密工具有限公司,江苏苏州215104 [2]苏州富纳艾尔科技有限公司,江苏苏州215009 [3]北京理工大学自动化学院,北京100102

出　　处：《科技资讯》2021年第4期52-54,103,共4页Science & Technology Information

摘　　要：针对冗余喷涂机器人逆运动学优化解空间难以确定的问题,提出一种基于帕累托优化解集的解流形分析方法,对喷涂机器人逆运动学解流形在解空间中的优化分布问题进行了研究。帕累托优化解集一方面将喷涂冗余机器人的解空间流形与数学中帕累托解集联系起来,另一方面将喷涂冗余机器人的关节逆运动学拓展到数学领域的解空间流形进行研究,更易得到具有物理和几何意义的结论。最后通过空间旋转壳体逆运动学仿真证明了所用方法的合理性。Aiming at the problem that the inverse kinematics optimization solution space of redundant spraying robots is difficult to determine,a solution-manifold analysis method based on the Pareto optimization solution set is proposed to solve the optimization distribution problem of the inverse kinematics of the spraying robot in the solution space.On the one hand,the Pareto optimization solution set links the solution space manifold of the spraying redundant robot with the Pareto solution set in mathematics,and on the other hand,it extends the joint inverse kinematics of the spraying redundant robot to the solution space flow in the field of mathematics.It is easier to get conclusions with physical and geometric significance by studying the shape.Finally,the inverse kinematics simulation of the space rotating shell proves the rationality of the method.

关 键 词：冗余机器人 帕累托 流形 优化 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]