考虑振动抑制的多冗余度特种操作机器人轨迹优化方法

Trajectory Optimization Method of Special Operation Redundant Robot for Vibration Suppression

为了实现复杂曲管内曲面的自动化喷涂作业,设计多自由度的冗余度特种操作机器人。而多冗余度机器人系统刚度低,使得机器人在喷涂作业过程中出现振动,末端轨迹跟踪误差加大,降低了涂层质量。为此,通过分析冗余度机器人带有弹性变形影响的动力学方程,提出一种利用冗余自由度对机器人关节空间作业轨迹进行优化的新方法,实现了机器人在作业过程中的振动抑制,并且满足复杂三维工作空间约束。在试验中应用此方法,机器人在运动过程中既满足复杂的工作约束,同时减少了末端的振动,实现了振动抑制,证明了该优化方法的有效性。

A redundant robot is designed to achieve automatic inner surface spraying operation for bent pipe.Since the low system stiffness of the redundant robot,vibrations occur during the spraying process,which increase terminal tracking error and influece the quality of the coating.To this end,this article builds dynamic equations of redundant robot with the influence of elastic deformation and proposes a trajectory optimization method,which can optimize the joints trajectory to reduce vibrations and satisfy workspace constraints.In the experiments,as the trajectory satisfy the complex work-space constraints,the vibrations is suppressed by using the optimization trajectory planning method.Thus,the effectiveness of the trajectory optimization method is proved.