液压挖掘机分段可变阶挖掘轨迹规划  

Trajectory Planning with Piecewise Variable Order of Hydraulic Excavator

作　　者：梁志鹏 李捷[1] 杨磊 Liang Zhipeng;Li Jie;Yang Lei

机构地区：[1]太原科技大学机械工程学院

出　　处：《工程机械》2021年第7期66-72,I0016,I0017,共9页Construction Machinery and Equipment

基　　金：山西省科技平台项目(201805D121006)。

摘　　要：引入工业机器人的机械臂理论,对某型液压挖掘机工作装置D-H参数化,采用蒙特卡罗方法求得其工作范围,采用粒子群优化算法得到各个路径点对应的关节角度值,分别使用4-4-4-4-5、3-3-3-3-3和3-3-5-3-3等3种多项式插值法进行轨迹规划。通过仿真发现:分段插值方法 3-3-3-3-3及3-3-5-3-3规划得到的关节角幅度偏大,轨迹精度低,速度与加速度变化幅值偏大且过渡不平稳。引入"急动度"的概念,在原有约束条件中加入急动度约束,在挖掘轨迹中前4段采用4次多项式插值,第5段采用5次多项式插值即4-4-4-4-5多项式插值的方法。研究结果表明4-4-4-4-5插值轨迹规划方法较其他两种轨迹规划方法得到的各关节角度、角速度及角加速度曲线更加平滑连续,对各个关节产生的冲击更小,该轨迹规划方法能够使挖掘机得到更加平稳的挖掘轨迹。Based on manipulator theory of industrial robot,D-H parameterization of a hydraulic excavator working device is carried out,its working range is obtained by Monte Carlo method,joint angle values corresponding to each path point are obtained by particle swarm optimization algorithm,and three polynomial interpolation methods of4-4-4-4-5,3-3-3-3-3 and 3-3-5-3-3 are used for trajectory planning.Through simulation,it is found that amplitude of joint angle obtained by piecewise interpolation method of 3-3-3-3-3 and 3-3-5-3-3 is too large,trajectory accuracy is low,and amplitude of velocity and acceleration change is too large and of unstable transition.Concept of "jerk" is introduced,and jerk constraint is added to original constraint conditions.Quartic polynomial interpolation is used in the first four segments of excavating trajectory,and quintic polynomial interpolation,that is,4-4-4-4-5,is used in the fifth segment.The research results show that curves of joint angle,angular velocity and angular acceleration obtained by trajectory panning method of 4-4-4-4-5 interpolation are more smooth and continuous than that obtained by the other two trajectory planning methods,which has lees impact on each joint.This trajectory planning method enables excavator to get a more stable excavating trajectory.

关 键 词：液压挖掘机 挖掘轨迹规划 分段插值 粒子群优化算法 

分 类 号：TU621[建筑科学—建筑技术科学]