冗余移动机械臂运动学分析及轨迹规划  

Kinematic Analysis and Trajectory Planning of Redundant Mobile Manipulators

作　　者：夏广健 曾庆生[1] 冯栋彦[1] 李甚霖 Xia Guangjian;Zeng Qingsheng;Feng Dongyan;Li Shenlin(College of Mechanical Engineering,University of South China,Hengyang 421001,China)

机构地区：[1]南华大学机械工程学院,湖南衡阳421001

出　　处：《机械传动》2024年第9期27-34,共8页Journal of Mechanical Transmission

基　　金：中央引导地方科技发展资金项目(2022ZYQ015)。

摘　　要：针对冗余移动机械臂的轨迹规划问题,提出一种基于多项式插值法同时结合分段规划思想的方法。将机械臂与移动平台视为一个整体系统并进行运动学分析,建立运动学模型,推导了通用形式的几何雅可比矩阵及其伪逆;在轨迹规划过程中,以轨迹运行时间、移动机械臂末端移动的空间距离为优化目标,同时考虑各关节速度及加速度的约束,采用遗传算法对冗余移动机械臂的轨迹进行了优化。仿真实验结果表明,优化后运动的轨迹平滑,移动平台与机械臂各关节位移及速度曲线连续且平稳,验证了方法的可行性与有效性。A method based on the polynomial interpolation combined with the segmental planning was proposed for the trajectory planning of redundant mobile manipulators.The kinematic analysis was carried out by considering the manipulator and the mobile platform as an integrated system,a generalized form of the geometric Jacobi matrix and its pseudo-inverse were derived.In the trajectory planning process,the trajectory running time and the spatial distance travelled by the end of the mobile manipulator were taken as the optimization objectives,the velocity and acceleration constraints of each joint were also taken into account,and a genetic algorithm was used to optimize the trajectory of the redundant mobile manipulator.The simulation results demonstrate that the trajectory of the optimized motion is smooth,and the displacement and velocity curves of the joints of the mobile platform and the manipulator are continuous and stable,which verifies the feasibility and effectiveness of the method.

关 键 词：移动机械臂 轨迹规划 几何雅可比矩阵 遗传算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]