考虑能耗与负载因素的机器人仿生轨迹规划方法研究

Considering the Engergy Consunptionand Load Factorsof the Bionic Robot Trajectory Planning Methed Research

提出一种基于仿生学理念的机器人运动轨迹规划方法。通过对人体上肢在举哑铃过程的分析以及对人体上肢进行运动学及动力学的模型建立,得到人体上肢的运动特征点信息。采用五次多项式插值法对轨迹进行规划研究并加入人体上肢手臂的运动特征点信息,最终确定考虑能耗及负载因素的仿生轨迹规划的基本方法。通过运动学、动力学分析及实验对比,确定最优轨迹。最后进行仿真和实验验证此仿人轨迹规划方法的正确性和优越性。

A robot trajectory planning method based on bionics concept is proposed. By analyzing the dumbbell lifting process of human upper limb and the kinematics and dynamics model of human upper limb,the motion characteristic points information of human upper limb is obtained. The five polynomial interpolation method is used to study the trajectory planning,and the motion characteristic points information of human upper limb and arm is added. Finally,the basic method of bionic trajectory planning considering energy consumption and load factors is determined. Through kinematics,dynamics analysis and experimental comparison,the optimal trajectory is determined. Finally,simulations and experiments are carried out to verify the correctness and advantages of the human simulated trajectory planning method.