一种变胞式工业机器人时间最优轨迹规划  

A Time Optimal Trajectory Planning of the Metamorphic Industrial Robot

作　　者：王汝贵[1] 董奕辰 陈辉庆 WANG Rugui;DONG Yichen;CHEN Huiqing(College of Mechanical Engineering,Guangxi University,Nanning 530004;College of Mechanical and Control Engineering,Guilin University of Technology,Guilin 541006)

机构地区：[1]广西大学机械工程学院,南宁530004 [2]桂林理工大学机械与控制工程学院,桂林541006

出　　处：《机械工程学报》2023年第5期100-111,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(51865001)。

摘　　要：根据变胞式工业机器人工作原理,建立了其工作轨迹模型,并基于该模型提出了一种变胞式工业机器人时间最优的轨迹规划方法。该方法着重考虑机器人构态变换过程,将轨迹规划问题转化为内外层嵌套的优化问题进行分析。分别给出该优化问题的设计变量、目标函数以及约束条件,得到了变胞式工业机器人时间最优轨迹规划问题的数学模型。运用所提出的方法对本课题组自研制的变胞式码垛机器人进行轨迹规划研究,根据其工作轨迹模型,建立了优化设计问题数学模型,在给出关节角度插值函数系数的确定方法后,采用嵌套粒子群算法对该优化问题进行求解,得到了优化后的关节角度函数以及理论工作轨迹,与实验所得的实际工作轨迹进行对比,验证了所提方法的可行性。该研究工作为变胞式机器人的运动规划研究提供了参考。According to the working principle of the metamorphic industrial robot,its working trajectory model is established.And based on this model,a time optimization trajectory planning method of the metamorphic industrial robot is proposed.This method focuses on the transformation process of robot configuration and transforms the trajectory planning problem into an internal and external nested optimization problem for analysis.The design variables,objective function and constraints of the optimization problem are presented respectively,and the mathematical model of the time optimization trajectory planning problem of the metamorphic industrial robot is obtained.The proposed method is used to study the trajectory planning of the metamorphic palletizing robot developed by our research group.According to its working trajectory model,the mathematical model of the optimization design problem is established.After presenting the calculation method for coefficients of the joint angle interpolation functions,the optimization problem is solved by nested PSO algorithm,and the optimized joint angle functions and theoretical working trajectory are calculated.Compared with the actual working track gained by the experiment,the feasibility of the proposed method is verified.This work provides a reference for the research of motion planning of metamorphic robots.

关 键 词：变胞机构 工业机器人 轨迹规划 时间最优 嵌套粒子群算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]