摘要
当前多轴机械臂目标抓取路径计算中,仅考虑碰撞约束,而损失了距离约束条件,导致选择目标函数求解易陷入局部最优,路径选择与抓取效果下降,抓取时间增加,提出基于激光测距的多轴机械臂目标抓取路径选择方法。通过激光扫描仪展开环境数据扫描,计算多轴机械臂位置点和目标点之间的欧式距离,得到多轴机械臂与其抓取目标的位置信息。利用所得位置信息建立多轴机械臂的动力学方程,通过动力学方程设定路径选择约束参数,并搭建路径选择目标函数。采用多种群粒子群多精英种群(PSOEL)算法求解目标函数,获取最优路径,实现多轴机械臂目标抓取的路径选择。实验结果表明:在考虑距离约束的选择方法下,多轴机械臂目标抓取路径选择效果与抓取效果好,抓取时间短,实际应用效果好。
In the current multi-axis robotic arm target grasping path calculation,only collision constraints are considered,while distance constraints are lost,resulting in the selection of the objective function solution easily falling into local optima,decreased path selection and grasping effectiveness and increased grasping time.A multi-axis robotic arm target grasping path selection method is proposed based on laser ranging.A laser scanner is used to scan environmental data,the Euclidean distance between the position point of the multi-axis robotic arm and the target point is calculated,and the position information of the multi-axis robotic arm and its grasping target is obtained.Using the obtained position information,the dynamic equation of the multi-axis robotic arm is established,path selection constraint parameters are set through the dynamic equation,and a path selection objective function is built.Using the multi-swarm particle swarm multi-elite population(PSOEL)algorithm to solve the objective function,the optimal path is obtained and path selection for multi-axis robotic arm target grasping is achieved.The experimental results show that under the selection method considering distance constraints,the multi-axis robotic arm has good performance in selecting grasping paths and grasping the targets.
作者
李雪艳
袁海文
LI Xueyan;YUAN Haiwen(Beijing Polytechnic College,Beijing 100042,China;Beijing University of Aeronautics and Astronautics,Beijing 100191,China)
出处
《机械设计与研究》
CSCD
北大核心
2024年第2期15-19,28,共6页
Machine Design And Research
基金
北京市科技一般项目(KM202210853002)。
