逆解多目标优化的六自由度机械手轨迹规划  

Trajectory Planning of 6-DOF Manipulator Based on Inverse Multi-objective Optimization

作　　者：段现银 张灿 朱泽润 孙朝阳 蒋国璋[1] 向峰[1] Duan Xianyin;Zhang Can;Zhu Zerun;Sun Zhaoyang;Jiang Guozhang;Xiang Feng(Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,College of Mechanical Automation,Wuhan University of Science and Technology,Wuhan 430081,China;State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]武汉科技大学机械自动化学院机械传动与制造工程湖北省重点实验室,湖北武汉430081 [2]华中科技大学数字制造装备与技术国家重点实验室,湖北武汉430074

出　　处：《系统仿真学报》2021年第9期2128-2137,共10页Journal of System Simulation

基　　金：国家自然科学基金(51975431);武汉科技大学国防预研基金(GF201914)。

摘　　要：为优化机械手作业质量和效率,提出基于机械手刚度与全局行程最优的逆解多目标确定方法,建立机械手正运动学模型,运用行为树进行逆运动学求解。构建刚度性能评价指标与关节角总行程数学模型,进行逆解多目标优化。设计7–5–7次多项式关节空间插值算法进行轨迹规划,与常用的3次多项式规划方法相比,结果表明:7–5–7次多项式规划方法得到的机械手运行轨迹更加平稳顺滑。In order to optimize the machining quality and production efficiency of manipulator,an inverse multi-objective determination method based on the optimization of manipulator stiffness and global travel is proposed.Establishing the forward kinematics model of manipulator,the inverse kinematics is solved by using behaviour tree.The stiffness performance evaluation index and the mathematical model of total stroke of joint angle are constructed to carry out the inverse solution multi-objective optimization.The 7-5-7 order polynomial joint space interpolation algorithm is designed for the trajectory planning.Compared with the commonly used cubic polynomial programming method,the manipulator trajectory obtained by the 7-5-7 order polynomial programming method is more stable and smoother.

关 键 词：逆运动学 机械手 行为树 刚度 关节角行程 轨迹规划 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]