体能训练机器人操作臂交互轨迹规划方法  

Interactive Trajectory Planning Method of Manipulator in Physical Training Robot

作　　者：董志[1] 周楠 DONG Zhi;ZHOU Nan(Guilin University Of Aerospace Technology,Guangxi Guilin 541001,China;Guilin University of Technology,Guangxi Guilin 541004,China)

机构地区：[1]桂林航天工业学院,广西桂林541001 [2]桂林理工大学,广西桂林541004

出　　处：《机械设计与制造》2022年第5期249-252,共4页Machinery Design & Manufacture

基　　金：2017年度政府数字传播与文化软实力研究;在马克思主义认识论视域下大学生体育锻炼存在的问题及路径探究(z2017010)。

摘　　要：体能训练机器人操作臂的力方向可操作度直接影响着运动轨迹规划精度。基于此,研究了体能训练机器人操作臂交互动态轨迹规划方法,分析体能训练机器人操作臂的力方向可操作度,利用多维支持向量机代替高斯混合模型,在李雅普洛夫第二方法的基础上确定稳定性约束条件,构建基于支持向量机的轨迹规划模型,实现体能训练机器人操作臂交互动态轨迹规划。实验结果表明,所提方法的角位移更小、噪声识别值和超参数更高,验证了所提方法轨迹规划弹性规划能力较好且轨迹规划精度较高。The maneuverability of the force direction of the physical training robot manipulator directly affects the trajectory planning accuracy.Based on this,it studies the interactive dynamic trajectory planning method of the manipulator of the physical training robot,analyzes the force direction maneuverability of the manipulator of the physical training robot,uses multi-dimensional support vector machine instead of Gaussian mixture model,determines the stability constraints on the basis of Lyapunov’s second method,and constructs the trajectory planning model based on support vector machine,The interactive dynamic trajectory planning of physical training robot manipulator is realized.Experimental results show that the proposed method has smaller angular displacement,higher noise identification value and higher super parameters.It is proved that the proposed method has better trajectory planning elasticity and higher trajectory planning accuracy.

关 键 词：体能训练机器人 操作臂 轨迹规划 可操作度分析 支持向量机 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]