摘要
从机器人关节空间出发,以单关节系统为例,针对机器人关节空间能量最优的运动轨迹优化方法进行了研究。在基于Stribeck摩擦模型构造单关节系统动力学模型的基础上,建立了以傅里叶级数表征任意位置和规律的运动轨迹规划方案。以能量作为优化目标,通过添加边界位置、速度及加速度等约束条件,构建了运动轨迹优化的理论模型。基于遗传算法对傅里叶级数的最优系数进行搜索,从而形成以能量最优为目标的运动轨迹优化方法。通过具体算例分析了傅里叶级数系数的数量对于优化后的轨迹作用于关节系统能耗及运动学性能等方面的影响,并与多项式运动规律进行对比分析,结果表明该运动轨迹优化方法对于降低关节系统能耗具有显著作用。
With the single-joint system as an example, research is conducted on the method of optimal-energy motion trajectory planning in the robot joint space. Based on the Stribeck model of single-joint systematic dynamics,the scheme of motion trajectory planning is formulated,with the positions and their laws represented by Fourier Series. For the sake of optimal energy, the model of motion-trajectory optimization is built up ,with the position, velocity and acceleration on the boundary as the constraints. By means of GA,measures are taken to identify the optimal coefficients of Fourier Series and establish the theoretical model of optimal-energy motion trajectory. Based on the analysis on several examples, the effects of Fourier Series coefficients on energy consumption and kinematic performance are identified. Based on the comparison with the polynomial motion law,the re- suits show that the method has a significant effect in reducing the energy consumption of the joint system.
作者
梅江平
方志炜
贺莹
臧家炜
孙玉德
MEI Jiang-ping;FANG Zhi-wei;HE Ying;ZANG Jia-wei;SUN Yu-de(School of Mechanical Engineering,Tianjin University,Tianjin 300350;Tianjin University Renai College,Tianjin 301636)
出处
《机械设计》
CSCD
北大核心
2018年第10期1-7,共7页
Journal of Machine Design
基金
国家自然科学基金面上资助项目(51475320)
