一种平面冗余机器人总性能最优的实时控制方法

doi:10.3969/j.issn.1004-132X.2022.16.006

摘要/Abstract

摘要： 提出了驱动集中布置概念冗余度机器人的结构设计方法，根据机器人逆运动学提出了基于加权M-P伪逆的预设空间降维法，并对加权矩阵进行了数值分析，通过改变加权矩阵对角线上元素的值进而改变瞬时速度，来改变各个关节角度的摆动幅度。对平面4R冗余机器人进行了动力学分析，将总能量、总力矩和总时间作为优化目标，利用粒子群优化方法对这三个指标同时进行优化，得到冗余度机器人总性能最优时的运动结束时间。进行了样机试制，实验结果证明所提方法可行。

关键词: 冗余度机器人, 驱动集中布置, 多目标优化, 实时控制

Abstract: The concept of redundant robot structure design with centralized driving layout was proposed. In the inverse kinematics of robot, a prespecified space dimensionality reduction method was proposed based on weighted M-P pseudo-inverse, and the weighted matrix was analyzed numerically. The swing amplitudes of each joint angles were changed by changing the values of the elements on the diagonal of the weighted matrix and then changing the instantaneous velocity. The dynamics analysis of a planar 4R redundant robot was carried out, and the total energy, total torque and total time were taken as the optimization objectives. The particle swarm optimization method was used to optimize the three objectives simultaneously, and the motion end time was optimally obtained when the total performances of the redundant robot were reached. The experimental results show that the proposed method is feasible.

Key words: redundant robot, drive centralization, multi-objective optimization, real-time control

中图分类号:

TP241.2

荣誉, 豆天赐, 张兴超, 张磊, 赵景宇. 一种平面冗余机器人总性能最优的实时控制方法[J]. 中国机械工程, 2022, 33(16): 1928-1939.

RONG Yu, DOU Tianci, ZHANG Xingchao, ZHANG LeiZ, HAO Jingyu. A Real-time Control Method for Optimal Overall Performances of Planar Redundant Robots[J]. China Mechanical Engineering, 2022, 33(16): 1928-1939.

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链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2022.16.006

http://www.cmemo.org.cn/CN/Y2022/V33/I16/1928

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