基于PSO非均匀样条插值的混合结构柔性臂抑振轨迹规划

Trajectory planning of vibration suppression for hybrid structure flexible manipulator based on PSO non-uniform spline interpolation

柔性臂广泛应用于核工业、建筑业、太空探索等领域,但由于自身刚度低、大挠度、低阻尼等特点,其末端易产生振动且难以在短时间内消除.对此,研究一种具有一个旋转关节和一个伸缩关节的混合结构柔性臂的抑振轨迹规划方法.通过对其结构分解和刚柔部分分解,建立动力学和运动学模型.为了提高算法效率,引入权重因子,构造映射函数,选取非均匀插值点,采用粒子群算法(PSO)优化插值点位置增量,利用3次样条插值拟合优化后的轨迹函数.最后,通过设计混合柔性臂的控制系统,验证所提出抑振轨迹规划方法的有效性.

The flexible manipulator is widely used in the fields of nuclear industry, construction industry, space exploration and so on, but because of its characteristics of low stiffness, large deflection and low damping, the end of the vibration is difficult to eliminate in a short time. In this paper, a method of vibration reduction trajectory planning for the hybrid structure flexible manipulator with a rotating joint and a telescopic joint is studied. The dynamic and kinematic models are established by the structural decomposition and rigid flexible partial decomposition. In order to improve the efficiency of the algorithm, the weighted factor is introduced and the mapping function is constructed to select the non-uniform interpolation point. The interpolation point position increment is optimized by using the particle swarm optimization algorithm（PSO）, and a new trajectory function is fitted by three spline interpolation. Finally, the effectiveness of the proposed method is verified by designing a control system of the hybrid flexible manipulator.