自主作业挖掘机的机器人化研究

Robotization Research of Autonomous Excavator

论文以某自主作业挖掘机为平台进行轨迹规划、运动控制等机器人化研究,以解决液压挖掘机的多变性、液压系统的高度非线性、整个控制系统存在大量的不确定量等问题。采用基于作业面状况的实时在线轨迹规划方法,完成挖掘机各关节运动轨迹规划,得出自主挖掘装置作业的最佳路线。开发出一套面向任务的挖掘机器人语言,将挖掘任务描述为一系列的运动和编码,能够方便快捷的进行系统维护、功能扩展和二次开发。应用结果表明,该研究方法能实现挖掘机的机器人化,并已成功应用于某预研项目。

This paper takes autonomous excavator as platform to research the method of trajectory planning and motion control in purpose of solving the problems including the polytrope of hydraulic excavator,highly nonlinear hydraulic system and many uncertain data in the whole control system. A real-time on-line trajectory planning method based on work surface is adopted to complete the trajectory planning of each joint of the excavator and to find a best trajectory of the independent mining.A task oriented mining robot language is developed to describe the mining task as a series of motion and coding.This can do the system maintenance,function expansion and two development conveniently and quickly. Application results show that this method can realize the robot of excavator and has been successfully applied to a pre-research project.