基于NURBS曲线的挖掘机器人轨迹规划方法研究.pdfVIP

验验证的同时，也验证了试验台的自身功能。

关键词：挖掘机器人；NURBS；多节点轨迹规划；连续轨迹规划；仿真实验；

Abstract

Asoneofthemostwidelyusedconstructionmachinery,theroleofexcavatorsin

variousengineeringfieldsisbecomingincreasinglyimportant.Withtheadvancement

ofscienceandtechnology,peoplesrequirementsforeconomy,energysaving,

environmentalprotection,safety,andworkprecisionaregettinghigherandhigher.

Therefore,hydraulicexcavatorsareconstantlydevelopingtowardsintelligenceand

robotization.Intheresearchofintelligentminingrobots,thekeytodeterminingits

actualworkingabilityisitsplanningandcontroltechnology.BasedontheNURBS

curve,thispaperstudiesthetrajectoryplanningmethodoftheExcavator-Robot.The

maincontentsareasfollows:

1.ThispaperusestheD-Hmethodtomodelthekinematicsoftheworkingdeviceof

theminingrobot,andderivetheforwardandinversekinematicequationsattheposition

leveltoachievetheconversionbetweenjointspacevariablesandbucketposespace

variables.Establishthefoundationfortrajectoryplanning,anddescribethemovement

rulesoftheworkingdeviceoftheexcavationrobotandtherelationshipbetweenthe

movementsofvariousmembersfromtheperspectiveofgeometry.

2.TheNURBScurvewasstudiedindepth,thebasisfunctionexpressionsofthefifth-

orderNURBScurvewererecursed,andthefirstandsecond-orderderivationsofthe

startandendpointswereintroducedtoproposeasetofdatapointsthatmustbepassed.

Amethodforsolvingallthecontrolverticesofthefifth-orderNURBScurveusinga

matrixequation.Itprovidesamathematicalbasisforthetwotrajectoryplanning

methodsbasedonNURBScurvesproposedinthispaper.

3.Aimingatthegeneralexcavationconditionsthatdonotrequiretheaccuracyofthe

buckettoothtip