基于粒子群优化的刚柔混合机械臂振动抑制规划.pdfVIP

第29 卷 第4 期 控 制 与 决 策 2014 年 4 月 Vol. 29 No. 4 Control and Decision Apr. 2014 文章编号: 1001-0920 (2014) 04-0632-07 DOI: 10.13195/j.kzyjc.2012.1930 基于粒子群优化的刚柔混合机械臂振动抑制规划 徐文福, 徐 超, 孟得山 (1. 哈尔滨工业大学深圳研究生院，广东深圳518055 ；2. 深圳数字化制造技术重点实验室，广东深圳518055) 摘 要: 提出基函数叠加与粒子群优化(PSO) 相结合的振动抑制轨迹规划方法. 首先推导了各关节变量与模态坐标 的关系, 采用正弦-梯形函数作为基函数构造各关节的角速度, 其中基函数的系数和幅值为待定参数; 然后将末端振 动最小化轨迹规划转换为待定参数的优化问题, 并采用PSO 算法获得待定参数的最优值; 最后以双杆刚柔混合机械 臂为例开展仿真研究. 仿真结果表明, 所提出的方法大大减小了机械臂末端的残留振动. 关键词: 柔性机械臂；空间机械臂；刚柔机械臂；振动抑制；粒子群优化算法 中图分类号: TP273 文献标志码: A Trajectory planning of vibration suppression for rigid-flexible hybrid manipulator based on PSO algorithm XU Wen-fu , XU Chao , MENG De-shan (1. Harbin Institute of Technology Shenzhen Graduate School，Shenzhen 518055，China ；2. Shenzhen Key Lab of Digital Manufacturing Technology ，Shenzhen 518055，China ．Correspondent ：XU Wen-fu ，E-mail ：wfxu@hit.edu.cn) Abstract: A trajectory planning method of combing the basis functions superposition and particle swarm optimization is proposed to suppress the vibration. Firstly, the relationship between the state variables of each joint and the modal coordinates of the flexible body is derived. Then, sinusoidal-trapezoidal functions are used as basis functions to construct joint angular velocities. The coefficients and amplitudes of the basis functions are considered as the parameters of the joint rate functions to be determined. Then, the vibration minimized trajectory planning problem is transformed into an optimization problem of the unknown parameters. And the PSO algorithm is utilized to search the optimal parameters. Finally, a two-link rigid-