自主挖掘的平滑连续特性轨迹规划研究

Smooth continuous track planning on autonomous mining

为保证自主挖掘过程的平稳连续,通过对比选取了一种合理的轨迹规划方法.以某型挖掘机为研究对象,在笛卡尔坐标空间对一次作业路径进行规划.在关节空间对多个路径控制点在不同条件下分别采用n次多项式、傅里叶级数拟合法、分段多项式插值法进行轨迹规划;通过MATLAB仿真平台得到的各关节的关节角、角速度和角加速度的变化曲线是平滑连续的;对于函数拟合法与分段多项式插值法进行了动力学特性比较,结果表明,函数拟合法的轨迹规划更加合理,它可以使机构工作更加平稳连续,对机构的振动冲击强度也较低,能很好地满足实际工作中自主挖掘的要求.

In order to ensure the smoothness and continuity of autonomous mining,a rational track planning method is comparatively selected for a specific excavator.By planning ajob path in Cartesian coordinate space,the track planning is conducted on joint space via n-degree polynomial,Fourier series fitting and piecewise polynomial interpolation under different path control points and conditions.To this end,the curves of joint angle,angular velocity and acceleration are smooth and continuous.In comparison with dynamic properties of functional fitting and piecewise polynomial interpolation,it is found that the mechanism via functional fitting works more smoothly and continuously with lower impact strength so as to meet autonomous mining demands.