挖掘机动力臂挖掘目标轨迹规划仿真

Excavator Manipulator's Trajectory Planning Simulation Base on Digging Target

研究挖掘机自主挖掘中的轨迹规划问题。动力臂自由度多,机械结构复杂,工作状况多变,导致提出适应各种状况的轨迹规划方法困难。在挖土装载部分,常见的分段再拟合的规划方法存在控制点寻找依赖主观判断,不具应用推广性的缺点。同时,该法不考虑挖掘力、斗容、土壤硬度等参数,存在不合理性。提出一种基于挖掘目标特性的遗传规划方法,将整体轨迹作为遗传基因,自主迭代寻优,获得满足挖掘目标相关参数的轨迹。仿真结果表明,与原有方法相比,遗传规划方法对挖掘经验要求少,无需分段,能够满足多项参数要求,所得轨迹挖掘力更合理。

Due to many degrees of freedom and complex mechanism, it is hard to find a practical planning method for manipulators in flexible working condition. In digging part, general segmentation method, always found by subjec- tive judgment, has difficulty in finding segmentation points in numeric way and is lack of consider of digging force, bucket capacity, soil hardness and other excavator parameters. A genetic algorithm base on characteristic of soil is proposed, which is regarded the whole path as genetics in itself, and the final trajectory of fitting parameters regard with digging target is found. Simulation results show that, compared to traditional method, the genetic trajectory plan- ning method needs less digging experience and fragmenting, and satisfies more demands. The result is more rational in digging force with longer calculating period.