六自由度吊机吊装路径优化分析

Optimal Analysis of Erection Trajectory for 6-Degree-of-Freedom Crane

针对某六自由度吊机吊装轨迹规划问题,采用一种时间最优和能量最省相结合为目标的轨迹规划方法。利用DH算法建立某型机械吊机的运动学模型,建立其正运动学和逆运动学方程。为解决吊机在静态环境下点到点的轨迹规划问题,应用基于粒子群算法的五段三次多项式插值轨迹规划算法对关节轨迹进行时间和能量优化求解得到最优路径。最后,对此模型进行了数值仿真。仿真结果表明关节轨迹平滑连续,保证了边界条件,验证了所提方法的有效性。

A planning procedure for the target of time-optimal combined with energy-optimal was proposed aimed at the erection trajectory planning of 6-degree-of-freedom crane. Using D-H method to conduct the kinematics model of a certain mechanical crane and to build the forward, and inverse kinematics equation. To plan the point-to-point trajectories for crane working in a statics environment, the 3-3-3-3-3 piecewise polynomial interpolation trajectory planning algorithm based on PSO algorithm and based on time-optimal and energy-optimal are used to approach the optimal trajectories of the joint angles. The particle swarm optimization is implemented, so that the planned joint angle trajectories are smooth and continuous and boundary condition is satisfied. Numerical simulation results demonstrate that the proposed method is effective and available.