智能墙面抹灰机器人侧移运动轨迹规划  

Lateral Movement Trajectory Planning of Inte lligent Wall Plastering Robot

作　　者：丁勇辉 谢良喜 王越[1,3] 胡腾 DING Yong-hui;XIE Liang-xi;WANG Yue;HU Teng(Hubei Key Laboratory of Mechanical Trans mission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan Hubei 430081,China;Key Laboratory of Metallurgical Equipment and Control Technology,Ministry of Education,Wuhan University of Science and Technology,Wuhan Hubei 430081,China;Precision Manufacturing Institute,Wuhan University of Science and Technology,Wuhan Hubei 430081,China)

机构地区：[1]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430081 [2]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [3]武汉科技大学精密制造研究院,湖北武汉430081

出　　处：《计算机仿真》2024年第7期467-473,478,共8页Computer Simulation

基　　金：国家自然科学基金项目(51375352)。

摘　　要：针对智能墙面抹灰机器人在狭窄的建筑空间快速进行工位转换的问题,基于阿克曼转向原理,提出了一种基于两段五次多项式和圆弧曲线的轨迹规划方法。方法将侧移运动路径分为后退和前进两段轨迹,通过采样的方式选取抹灰机器人在两段轨迹中间点和过渡点不同的位姿,规划出一系列曲率连续、满足路径约束的路径曲线。然后,采用最优函数获得一条运动空间小、工作效率高的最优轨迹。通过该方法在狭窄区域最佳施工位置进行工位转换仿真和样机试验,结果表明,采用上述方法规划的最优轨迹成功实现抹灰机器人自动工位转换,轨迹跟踪效果和规划轨迹基本吻合,验证了所提方法的可行性和有效性。Aiming at the problem of intellige nt wall plastering robot for fast station tra nsition in narrow building space,a trajectory planning method based on two-segment quintuple polynomial and circul ar arc curve is proposed based on Ackermann steering principle.The method divides the side-shift motion path into two trajectories:backward and forward,and selects the different positi ons of the plastering robot at the middle point and transition point of the two trajectories by sampling,and plans a series of path curves with continuous curvature and satisfying the path constraints.Then,an optimal trajectory with small motion space and high efficiency is obtai ned by using the optimal function.The results show that the optimal traje ctory planned by the method successfully rea lizes the automatic station conversion of the plastering robot,and the trajectory tracking effect and the planned trajectory basically match,which verifies the feasibility and effectiveness of the method.

关 键 词：抹灰机器人 路径规划 五次多项式 阿克曼转向 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]