装砖码垛机器人时间-冲击最优轨迹规划.pdfVIP

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装砖码垛机器人时间-冲击最优轨迹规划

吕鲲，陈宗元，张业明

（河南理工大学机械与动力工程学院，河南焦作454000）

为了提高装砖码垛机器人的工作效率，同时减小振动对机器人的影响，基于三次样条插值法，提出一种使机器人

摘要：

轨迹最优的规划方法，对各关节进行轨迹规划。利用权重系数法定义目标函数，以运动学和动作时间为约束条件，使码垛机

器人在运行过程中其时间和冲击达到综合最优。采用遗传算法求解出最优时间序列，进一步求解出最优轨迹。研究结果表

明：末端轨迹跟踪误差在合理的范围之内，该方法在装砖码垛机器人轨迹规划方面是可行的、合理的；可以为工作效率与冲

击等矛盾问题到达综合最优提供一种解决方案。

装砖码垛机器人；时间-冲击最优；轨迹优化；遗传算法

关键词：

中图分类号:TP242文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园员9）09原园1原园5

Time-jerkOptimalTrajectoryPlanningofBrickPalletizingRobot

LYUKun,CHENZongyuan,ZHANGYeming

（SchoolofMechanicalandPowerEngineering,HenanPolytechnicUniversity,Jiaozuo454,China）

Abstract:Inordertoimprovetheworkingefficiencyofthebrickpalletizingrobotandreducetheinfluenceof

vibrationontherobot,basedonthecubicsplineinterpolationmethod,aplanningmethodforoptimizingtherobot

trajectoryisproposed,andthetrajectoryplanningisperformedoneachjoint.Usingtheweightcoefficientmethodto

definetheobjectivefunction,withkinematicsandactiontimeasconstraints,thepalletizingrobotachieves

comprehensiveoptimizationintermsoftimeandjerkduringtherunningprocess.Thegeneticalgorithmisusedto

solvetheoptimaltimeseries,andtheoptimaltrajectory