基于AIWCPSO算法的喷浆机械臂运动轨迹优化  

Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm

作　　者：石灿 檀子良 雷超 李允旺 徐寒飞 胡乔炜 计振东 SHI Can;TAN Ziliang;LEI Chao;LI Yunwang;XU Hanfei;HU Qiaowei;JI Zhendong(School of Mechanical and Electronic Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China;Key Laboratory of Intelligent Mining and Robotics,Ministry of Emergency Management,Beijing 100083,China;Mining Safety Technology Research Institute,China Academy of Safety Science and Technology,Beijing 100012,China)

机构地区：[1]中国矿业大学(北京)机械与电气工程学院,北京100083 [2]煤矿智能化与机器人创新应用应急管理部重点实验室,北京100083 [3]中国安全生产科学研究院矿山安全技术研究所,北京100012

出　　处：《工矿自动化》2024年第12期155-165,共11页Journal Of Mine Automation

基　　金：“十四五”国家重点研发计划项目(2021YFC3001300);国家自然科学基金资助项目(52121003)。

摘　　要：针对传统喷浆机械臂轨迹规划算法存在多路径段间过渡突变、频繁启停导致喷浆效率不高和喷浆不均匀等问题,提出了一种自适应惯性权重及加速度系数的粒子群优化(AIWCPSO)算法,并基于该算法实现喷浆机械臂运动轨迹优化。提出了改进多段轨迹规划算法,采用直线加圆弧轨迹的过渡策略,将竖直方向的直线运动替换成圆弧运动,通过正弦加减速启停算法规划机械臂末端启停处的轨迹,以防止加速度突变,中间段的直线和圆弧轨迹进行匀速轨迹规划,实现机械臂末端匀速光滑运动;通过AIWCPSO算法在运动学约束下对运动参数进行优化,得到最优喷浆时间和速度,提升喷浆机械臂工作效率和喷浆均匀度。实验结果表明:与传统喷浆轨迹规划算法相比,改进多段轨迹规划算法喷浆平均效率提高了25.42%,喷浆轨迹均匀度明显改善;采用AIWCPSO算法优化后,喷浆效率提高了1.3308%。To address issues in traditional shotcrete manipulator trajectory planning algorithms,such as abrupt transitions between multiple path segments and low shotcrete efficiency and uniformity caused by frequent starts and stops,an optimized motion trajectory method based on the adaptive inertia weight and acceleration coefficient particle swarm optimization(AIWCPSO)algorithm was proposed.An improved multi-segment trajectory planning algorithm was developed,which incorporated a transition strategy combining linear and arc trajectories.Vertical linear motion was replaced with arc motion.Additionally,a sinusoidal acceleration and deceleration start-stop algorithm was used to plan the trajectory of the end effector of the manipulator at start and stop points to prevent abrupt changes in acceleration.The middle segment of linear and arc trajectories was planned for uniform motion,ensuring smooth and uniform movement at the end effector of the manipulator.Using the AIWCPSO algorithm,motion parameters were optimized under kinematic shotcrete time and speed,thereby improving the efficiency and uniformity of the shotcrete manipulator.Experimental results showed that,compared with traditional trajectory planning algorithms,the improved multisegment trajectory planning algorithm increased average shotcrete efficiency by 25.42%and significantly improved the uniformity of shotcrete trajectory.After optimization with the AIWCPSO algorithm,shotcrete efficiency increased by 1.3308%.

关 键 词：巷道支护 喷浆机械臂 多段轨迹规划算法 正弦加减速启停算法 自适应惯性权重及加速度系数的粒子群优化算法 运动参数优化 

分 类 号：TD353.5[矿业工程—矿井建设]