基于最小能耗的双机器人协调搬运系统负载分配  

Load Distribution of Dual ROBOT Coordinated Handling System Based on Minimum Energy Consumption

作　　者：赵志刚[1] 成瑞强 冮政 李子轩 张泽宇 ZHAO Zhigang;CHENG Ruiqiang;JIANG Zheng;LI Zixuan;ZHANG Zeyu(School of Mechanical and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070

出　　处：《兰州交通大学学报》2024年第5期9-18,共10页Journal of Lanzhou Jiaotong University

基　　金：甘肃省自然科学基金(22JR5RA319)。

摘　　要：针对由两台机器人组成的紧协调搬运系统,以期望轨迹下的最小能耗为目标,研究了双机器人紧协调搬运系统的负载分配方法。首先,在被搬运物期望运动轨迹下,结合机器人动力学和双机器人末端力约束关系,确定了被搬运物动态载荷和机器人关节力矩之间的关系。其次,取双机器人关节力矩的平方和作为系统最小能耗优化的目标函数,为保证被搬运物在搬运过程中不会因为过大的内力而导致变形和损坏,在目标函数中引入抓取矩阵的特定伪逆。然后,考虑机器人关节力矩约束,将目标函数的求解问题转化为二次非线性规划问题,并使用遗传算法进行了寻优。最后,以两台节卡Zu 5机器人搭建协调搬运平台,在期望搬运轨迹下,测得双机器人末端力与关节力矩,通过与理论计算值的比较,验证了负载分配的合理性和能耗优化方案的有效性。A load distribution method for a tightly coordinated handling system consisting of two robots was studied with the goal of minimizing energy consumption under the desired trajectory.Firstly,under the expected motion trajectory of the object,the relationship between the dynamic load of the object and the joint torque of the robot was determined by combining the robotic dynamics and the end effector force constraint relationship of the dual robots.Secondly,taking the sum of squared joint torques of the dual robots as the objective function for optimizing the minimum energy consumption of the system,in order to ensure that the transported object will not deform or be damaged due to excessive internal forces during the transportation process,a specific pseudo inverse of the grasping matrix is introduced into the objective function.Then,considering the constraint of robot joint torque,the problem of solving the objective function was transformed into a quadratic nonlinear programming problem,and genetic algorithm was used for optimization.Finally,a coordinated handling system was constructed using two jieka Zu 5robots.Under the expected handling trajectory,the end force and joint torque of the dual robots were measured.By comparing them with theoretical calculated values,the rationality of load distribution and the effectiveness of energy consumption optimization schemes were verified.

关 键 词：双机器人搬运系统 能耗 负载分配 动力学 

分 类 号：TH113.2[机械工程—机械设计及理论]