矿用大型挖掘机器人轨迹规划与控制  

Trajectory Planning and Control of Large Mining Robot

作　　者：桑子文 丁海港[1,2] 李志鹏 史继江 孟德远 杨程程[1] SANG Zi-wen;DING Hai-gang;LI Zhi-peng;SHI Ji-jiang;MENG De-yuan;YANG Cheng-cheng(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221116;Jiangsu Province and Education Ministry Co-sponsored Collaborative Innovation Center of Intelligent Mining Equipment,Xuzhou,Jiangsu 221116;Excavating Machinery Co.,Ltd.,of XCMG,Xuzhou,Jiangsu 221000)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116 [2]江苏省矿山智能采掘装备协同创新中心(省部共建),江苏徐州221116 [3]徐州徐工矿业机械有限公司,江苏徐州221000

出　　处：《液压与气动》2023年第6期109-115,共7页Chinese Hydraulics & Pneumatics

基　　金：江苏省自然科学基金(BK20221544)。

摘　　要：为提高矿用大型液压挖掘机的自动化水平,适应挖掘工况,设计了一种基于倾角传感器检测反馈的轨迹规划与控制系统。对目标挖掘机D-H建模,确定了其运动学正解及位姿表示;提出了一种适应性运动学逆解方法,提高了轨迹规划的柔性;建立了关节空间-驱动空间-检测空间的转换关系;对常见的挖掘卸料工况进行了轨迹规划,得到了液压执行器的位移目标曲线;通过上位机输出控制信号,控制比例多路阀开口,实现了执行器位置伺服。以95 t大型矿用挖掘机为试验对象,进行了挖掘轨迹规划与控制试验。试验结果表明,通过轨迹规划得到的各执行器目标曲线平滑连续,多执行器动作协调且铲斗位置精度较高,初步实现了自主挖掘作业。To improve the large mining hydraulic excavator s automation level and adapt to the mining working conditions,we design a trajectory planning and control system based on inclination sensor detection feedback.Based on the D-H model of the excavator,the forward kinematics solution and posture were determined.An adaptive inverse kinematics method was proposed,which improved the flexibility of trajectory planning.The transformation relationship of joint space,driving space and detection space was established.The trajectory planning of the common excavating and unloading working conditions was carried out for obtaining the position target curves of the hydraulic actuators.The upper computer output the control signal to control the proportional multi-way valve opening,thus realizing the actuator position servo.Taking the 95 t large mining excavator as the test object,the excavation trajectory planning and control experiments were carried out.The results show that the target curves of each actuator obtained by trajectory planning are smooth and continuous,the actions of multiple actuators are coordinated,and the bucket position accuracy is high.The autonomous excavation operation is preliminarily realized.

关 键 词：挖掘机器人 轨迹规划 轨迹控制 倾角 

分 类 号：TH137[机械工程—机械制造及自动化]