基于MACSF的移动机械臂振动抑制轨迹规划方法  

Vibration Suppression Trajectory Planning Method for Mobile Manipulators Based on MACSF

作　　者：邵继升 李团结[1] 宁宇铭 张琰[1,2] 李刚 姚聪 SHAO Jisheng;LI Tuanjie;NING Yuming;ZHANG Yan;LI Gang;YAO Cong(School of Mechano-Electronic Engineering,Xidian University Xi′an,710071,China;Beijing Mega Robot Technology Co.,Ltd.Beijing,100085,China)

机构地区：[1]西安电子科技大学机电工程学院,西安710071 [2]北京镁伽机器人科技有限公司,北京100085

出　　处：《振动．测试与诊断》2023年第4期787-792,834,共7页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金面上资助项目(51775403)。

摘　　要：为满足移动机械臂高精度、低抖动的作业需求,提出一种基于修正非对称组合正弦函数(modified asymmetry combined sine function,简称MACSF)的振动抑制轨迹规划方法。首先,针对传统非对称组合正弦函数(asymmetry combined sine function,简称ACSF)存在加速度突变、启停阶段不稳定等问题,以驱动函数加加速度连续平滑为目标,采用改进型组合正弦函数设计加加速度时间窗口中的加速阶段和减速阶段,以降低移动机械臂的关节力矩波动;其次,通过叠加组合方法求出满足约束条件的通用型驱动函数;最后,基于机器人操作系统(robot operating system,简称ROS)搭建移动机械臂抑振算法验证平台,并使用该平台在样机场景下进行了一系列实验验证。结果表明,MACSF方法能够有效抑制移动机械臂的瞬态振动和残余振动(动态作业过程中振幅优于1 mm),从而验证了该方法的有效性和实用性。To meet the operation requirements of mobile manipulators with high precision and low-jitter,a novel vibration suppression method for trajectory planning based on the modified asymmetry combined sine function(MACSF)is proposed.Firstly,aiming at the problems of acceleration mutation and instability in the startstop phase of the traditional asymmetry combined sine function(ACSF),and taking the continuous smoothing of driving function and acceleration as the goal,the acceleration stage and deceleration stage in acceleration time window are designed by using improved combined sine function to reduce joint torque fluctuation of mobile manipulators.Secondly,the linear combination method is used to find the universal driving function satisfying the constraint conditions.Finally,an algorithm verification platform for mobile manipulators is built based on robot operating system(ROS),and a series of experiments are carried out in prototype scenarios using this platform.The experimental results show that the MACSF method can effectively suppress the transient vibration and residual vibration of mobile manipulators,and the inhibition amplitude is within 1mm,which verifies the effectiveness and practicability of the method.

关 键 词：移动机械臂 非对称组合正弦函数 轨迹规划 振动抑制 机器人操作系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113.1[自动化与计算机技术—控制科学与工程]