挖掘机多目标关节空间最优轨迹规划  

Optimal trajectory planning for multi-objective joint space of excavator

作　　者：黄龙[1,2] 徐武彬 杨宇恒[1,2] 李冰 HUANG Long;XU Wubin;YANG Yuheng;LI Bing(School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China;Guangxi Collaborative Innovation Center of Earthmoving Machinery,Liuzhou 545006,China)

机构地区：[1]广西科技大学机械与汽车工程学院,柳州545006 [2]广西土方机械协同创新中心,柳州545006

出　　处：《现代制造工程》2023年第1期83-89,103,共8页Modern Manufacturing Engineering

基　　金：广西科技重大专项项目(桂科AA22068064);广西科技计划项目(桂科AD22080042);广西重点研发计划项目(桂科AB22035066);广西自然科学基金项目(2021JJA160278)。

摘　　要：为了确保挖掘机在作业过程中运动平稳、快速、节能,提出一种轨迹规划方法,即以挖掘机挖掘作业时间及挖掘作业能耗为优化目标,在关节空间分别对挖掘机各个关节采用4-3-3-3-4分段多项式插值,以确保各关节在运动过程中工作平稳,无较大冲击。以某型挖掘机为例,通过D-H法进行运动学逆解,将笛卡尔空间坐标转换至关节空间坐标,在满足约束的条件下,采用多目标粒子群优化(Multi-Objective Particle Swarm Optimization,MOPSO)算法对各个关节进行插值优化,并进行仿真。仿真结果证明,该轨迹规划方法能够准确地构造平滑轨迹,相比于仅仅以挖掘作业时间最短为目标进行规划,该轨迹规划方法在不同作业要求下对挖掘作业时间长、挖掘作业能耗大的问题都能起到一定的优化效果,为挖掘机的高效节能提供了保障。In order to ensure the excavator movement smoothly,fast and energy saving in the process of operation,a method of trajectory planning was put forward taking excavation time and excavation consumption as optimization objectives,the 4-3-3-3-4 piecewise polynomial interpolation was used on excavators various joints in joint space respectively to ensure that each joint in the process of movement work smoothly,without serious impact.Taking a certain type of excavator as an example,the inverse kinematics of the D-H method was used to convert the Cartesian space coordinates to the joint space coordinates.Under the condition of meeting the constraints,the Multi-Objective Particle Swarm Optimization(MOPSO)algorithm was used to optimize the interpolation of each joint,and the simulation was carried out.The simulation results show that the trajectory planning method can accurately construct smooth trajectories,compared with the planning method taking shortest excavation time as objective only,the trajectory planning method can solve the problems of long running time and high energy consumption of excavators under different operational requirements,and provides a guarantee for the high efficient and saving energy of excavators.

关 键 词：挖掘机 轨迹规划 多目标粒子群优化算法 多目标优化 分段多项式 

分 类 号：TU621[建筑科学—建筑技术科学]