基于关节损耗约束的工业机器人最优轨迹规划算法研究  

Optimal Trajectory Planning Algorithm of Industrial Robot Based on Joint Loss Constraint

作　　者：梁亮[1] 吴成东[1] 刘世昌 LIANG Liang;WU Chengdong;LIU Shichang(College of Information Science and Engineering,Northeastern University,Shenyang 110819)

机构地区：[1]东北大学信息科学与工程学院,沈阳110819

出　　处：《机械工程学报》2024年第19期11-19,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(U20A20197)。

摘　　要：提出一种基于关节损耗约束的机器人速度最优轨迹规划方法,使机器人各关节在避免过度损耗的前提下运动速度最快。基于永磁同步电机理论模型,分析工业机器人关节温升对电流、力矩、速度限值的影响,并结合弱磁控制策略建立引入温升影响因素的关节电机模型,得到电机力矩约束和减速器力矩约束,基于凯恩方法建立工业机器人动力学模型得到机器人各关节动力学约束。结合关节力矩约束和动力学约束形成关节损耗约束,以速度最优为目标,通过迭代算法得到满足约束条件的关节速度和加速度,并采用归一化多项式算法将优化后得到的关键点插补为关节实时轨迹。上述方法应用于新松SR7CL工业机器人关节空间和笛卡儿空间的轨迹优化,实验结果表明各关节轨迹优化后满足损耗约束条件并且速度最优,实现简单、实时性强,适用于各类工业机器人的高速运行场景。A robot speed optimal trajectory planning method based on joint loss constraints is proposed,so that each joint of the robot can move at the fastest speed without excessive loss.Based on the theoretical model of permanent magnet synchronous motor,the impact of temperature rise of industrial robot joint motor on current,torque and speed is established.Combined with the field weakening control strategy,a joint motor model that introduces temperature rise influencing factors is established,and the motor torque constraint and reducer torque constraint are obtained.Based on the Kane method,an industrial robot dynamics model is established to obtain the motion constraints of each joint of the robot.Joint torque constraints and dynamic constraints are combined to form joint loss constraints.With the speed optimization as the goal,the joint speed and acceleration that meet the constraint conditions are obtained through an iterative algorithm,and the normalized polynomial algorithm is used to interpolate the key points obtained after optimization as joint real-time trajectories.The above method is applied to the trajectory optimization of the joint space and cartesian space of the SIASUN SR7CL industrial robot.The experimental results show that after optimization,the trajectory of each joint satisfies the loss constraint conditions and has the optimal speed.It is simple to implement,has strong real-time performance,and is suitable for high-speed operation scenarios of various industrial robots.

关 键 词：工业机器人 最优轨迹规划 弱磁控制 机器人动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]