含约束的能耗最优冗余度机械臂轨迹规划  

Trajectory Planning of Energy Consumption Optimal Redundant Manipulators with Constraints

作　　者：周远非 唐海涛 Zhou Yuanfei;Tang Haitao(School of Equipment Manufacturing,Chengdu Vocational&Technical College of Industry,Chengdu 610218,China;School of Mechanical Engineering,Sichuan University Jinjiang College,Meishan 620860,China)

机构地区：[1]成都工业职业技术学院装备制造学院,四川成都610218 [2]四川大学锦江学院机械工程学院,四川眉山620860

出　　处：《机械传动》2022年第8期27-32,共6页Journal of Mechanical Transmission

基　　金：四川省教育厅2020年度科研计划项目(20ZB0407)。

摘　　要：针对如何降低冗余度或超冗余度机械臂轨迹优化复杂度的问题,提出了一种含约束的能耗最优机械臂轨迹规划方法。基于拉格朗日动力学对冗余度机械臂进行动力学建模,并利用均匀5次B样条函数来构建运动轨迹。为了提高轨迹优化的计算效率,通过在成本函数计算中处理运动学和动力学约束,设计了新的惩罚算法,以避免在所有约束都不满足的情况下运行逆动力学模型;在运行逆动力学模型进行轨迹优化之前,引入了一种新的虚拟连杆概念来替换所有冗余连杆,以消除物理上不可能的配置;同时在3自由度冗余度机械臂上对所提方法进行了实验验证。结果表明,仿真和实测获得了相同的预期最优轨迹跟踪性能,且轨迹优化后的能耗显著降低了约56.32%,验证了所提轨迹规划优化方法的有效性。Aiming at the problem of how to reduce the complexity of trajectory optimization of redundant or super-redundant manipulators,a constrained energy consumption optimal manipulator trajectory planning method is proposed.The dynamics of the redundant manipulator are modeled based on lagrange dynamics,and the motion trajectory is constructed using the uniform quintic B-spline function.In order to improve the compu⁃tational efficiency of trajectory optimization,a new penalty algorithm is designed through dealing with the kine⁃matic and dynamic constraints in the cost function calculation,so as to avoid running the inverse dynamic mod⁃el when all the constraints are not met.Before running the inverse dynamic model for trajectory optimization,a new virtual link concept is introduced to replace all redundant links to eliminate the physically impossible con⁃figuration.The proposed method is verified by experiments on a three-degree-of-freedom redundant manipula⁃tor at the same time.The research results show that the simulation and the actual measurement obtain the same expected optimal trajectory tracking performance,and the energy consumption after trajectory optimization is significantly reduced by about 56.32%,which verifies the effectiveness of the proposed trajectory planning opti⁃mization method.

关 键 词：冗余度机械臂 最优轨迹规划 能耗最优 约束处理 成本函数 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]