工业机器人六自由度装配序列规划下避障研究  

Research on Obstacle Avoidance of Industrial Robot Six Degrees of Freedom Assembly Sequence Planning

作　　者：李林峻 李坤全 王旭辉 刘洋[2] LI Lin-jun;LI Kun-quan;WANG Xu-hui;LIU Yang(Engineering Training Centre,He’nan University of Engineering,He’nan Zhengzhou 451191,China;College of Computer Science,He’nan University of Finance and Economics,He’nan Zhengzhou 450000,China)

机构地区：[1]河南工程学院工程训练中心,河南郑州451191 [2]河南财经政法大学计算机学院,河南郑州450000

出　　处：《机械设计与制造》2024年第1期353-358,共6页Machinery Design & Manufacture

基　　金：2020年河南省新工科研究与实践项目—新工科专业结构调整优化机制探索与实践(2020JGLX076)。

摘　　要：由于六自由度机器人在装配序列规划中存在顶角叶片重力矩差难以保证、叶片重力矩分布不够均衡的问题,以至于避障过程中出现碰撞。为此,提出工业机器人六自由度装配序列规划下避障研究。通过分析六自由度机器人装配序列中,顶角叶片重力矩差和叶片重力矩分布产生的干涉关系,将装配平稳性、方向调整次数及更换装配工具的频次作为约束条件,设置干涉关系矩阵和适应度函数,以判断装配序列方案是否达到最佳;在装配方案达到最佳后,通过离散化萤火虫算法获取六自由度机器人装配序列最优解;根据该结果检测六自由度机器人碰撞结果,并采用优化随机树节点扩展控制及扩展能力检测的改进快速搜索随机树算法(Rapidly-exploring Random Tree,RRT*)来对所得装配序列进行调整修正,实现工业机器人六自由度装配序列规划下避障研究。实验结果证明:该方法可获取装配效率高、成本小的六自由度机器人装配序列;可以快速规划出最佳六自由度机器人避障路径,有效地避开障碍物,且精度较高、误差较小、实用性较强。Due to the problems that the gravity moment difference of the tip blade is difficult to guarantee and the distribution of the weight moment of the blade is not balanced in the assembly sequence planning of the Six degrees of freedom robot,collision oc-curs in the obstacle avoidance process.Therefore,the research on obstacle avoidance under Six degrees of freedom assembly se-quence planning of industrial robots is proposed.By analyzing the interference relationship between the gravity moment difference of the tip blade and the distribution of the weight moment of the blade in the assembly sequence of the Six degrees of freedom ro-bot,the assembly stability,the number of direction adjustments and the frequency of replacement of assembly tools are taken as constraints,and the interference relationship matrix and fitness function are set to determine whether the assembly sequence scheme is optimal;After the optimal assembly scheme is reached,the optimal solution of the Six degrees of freedom robot assem-bly sequence is obtained through the Discretization Firefly algorithm;The collision results of Six degrees of freedom robots are de-tected according to the results,and the improved Rapid-exploring Random Tree(RRT*)algorithm,which optimizes Random tree node expansion control and expansion ability detection,is used to adjust and modify the assembly sequence obtained,so as to realize the obstacle avoidance research under the Six degrees of freedom assembly sequence planning of industrial robots.The ex-perimental results show that this method can obtain Six degrees of freedom robot assembly sequences with high assembly efficiency and low cost;It can quickly plan the best Six degrees of freedom robot obstacle avoidance path,effectively avoid obstacles,and has high accuracy,small error and strong practicability.

关 键 词：顶角重力矩差 装配序列 六自由度 工业机器人 智能避障 萤火虫算法 RRT*算法 

分 类 号：TH16[机械工程—机械制造及自动化] TH164