基于时间最短的冲压机器人轨迹规划
发布时间：2018-11-23 11:04
【摘要】：针对一种4自由度串联冲压机器人的自动上下料过程,在机器人的初始位姿与目标位姿已知,而运动时间和路径不确定的前提下,以最大限度提高机器人工作效率为目标,以工程实际中关节驱动力、驱动速度和工艺过程为约束条件,进行了单工作周期时间最短优化研究。首先采用D-H参数法建立机器人的连杆坐标系,列出关节变换矩阵和运动学方程,通过微分变换法求出机器人的雅克比矩阵,采用牛顿-欧拉法得出各关节力矩的表达式;然后以时间为参数,运用5次多项式拟合关节位移变化轨迹;最后采用二分法求解满足各关节速度约束和力(矩)约束的最优运动时间,从而生成各关节运动轨迹,并且进行了对比实验。结果表明,该轨迹规划方法能有效地缩短冲压机器人的工作周期。
[Abstract]:In view of the automatic loading and unloading process of a 4-DOF series punching robot, when the initial pose and the target pose of the robot are known and the movement time and path are uncertain, the goal is to maximize the working efficiency of the robot. Based on the constraints of joint driving force, driving speed and technological process in engineering practice, the shortest time optimization of single working cycle is studied. Firstly, D-H parameter method is used to establish the coordinate system of the robot connecting rod, the joint transformation matrix and kinematics equation are listed, the Jacobian matrix of the robot is obtained by differential transformation method, and the expressions of the joint moments are obtained by Newton-Euler method. Then with time as the parameter, the fifth degree polynomial is used to fit the trajectory of joint displacement. Finally, the optimal motion time satisfying the velocity constraint and the force (moment) constraint of each joint is solved by using the dichotomy method, and the motion trajectory of each joint is generated, and a comparative experiment is carried out. The results show that the trajectory planning method can effectively shorten the working period of stamping robot.
【作者单位】： 武汉纺织大学机械工程与自动化学院;
【基金】：国家自然科学基金资助项目(51505344)
【分类号】：TP242
[Abstract]:In view of the automatic loading and unloading process of a 4-DOF series punching robot, when the initial pose and the target pose of the robot are known and the movement time and path are uncertain, the goal is to maximize the working efficiency of the robot. Based on the constraints of joint driving force, driving speed and technological process in engineering practice, the shortest time optimization of single working cycle is studied. Firstly, D-H parameter method is used to establish the coordinate system of the robot connecting rod, the joint transformation matrix and kinematics equation are listed, the Jacobian matrix of the robot is obtained by differential transformation method, and the expressions of the joint moments are obtained by Newton-Euler method. Then with time as the parameter, the fifth degree polynomial is used to fit the trajectory of joint displacement. Finally, the optimal motion time satisfying the velocity constraint and the force (moment) constraint of each joint is solved by using the dichotomy method, and the motion trajectory of each joint is generated, and a comparative experiment is carried out. The results show that the trajectory planning method can effectively shorten the working period of stamping robot.
【作者单位】： 武汉纺织大学机械工程与自动化学院;
【基金】：国家自然科学基金资助项目(51505344)
【分类号】：TP242
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