车载清洁移动机械臂的时间-冲击最优轨迹规划

TIME-IMPACT OPTIMAL TRAJECTORY PLANNING OF VEHICLE-MOUNTED CLEANING MOBILE MANIPULATOR

以对塔式热发电站定日镜表面清洁作业的车载清洁移动机械臂为研究对象,考虑到机械臂的清洁效率及运动过程中的震动和磨损问题,提出一种机械臂时间-冲击最优轨迹规划方法,优化其时间与冲击量,提高机械臂工作效率的同时延长使用寿命。利用关节空间的位置-时间序列,采用5次B样条函数在关节空间构造插值曲线,以机械臂关节的角速度、角加速度和角加加速度为约束量,利用改进多目标粒子群优化(MO-PSO)算法对目标函数进行优化求解,最后通过构造归一化权重目标函数将多目标优化转化为单目标优化求解出最优解。仿真分析表明,该方法可提高机械臂的工作效率并减少磨损及振动。

Taking the vehicle-mounted cleaning mobile manipulator for cleaning the surface of the heliostat in the tower solar thermal power station as the research object,considering the cleaning efficiency of the manipulator and the vibration and wear problems during the movement,a time-impact optimal trajectory planning method of the manipulator is proposed,which optimizes its time and impact to improve the working efficiency of the manipulator and extend its service life.Using the position-time sequence of the joint space,an interpolation curve is constructed in the joint space using the quintic B-spline function.The angular velocity,angular acceleration and angular jerk of the manipulator joints are used as constraints,and the improved multi-objective particle swarm optimization(MO-PSO)algorithm is used to solve the objective function.And finally the multi-objective optimization is transformed into a single objective optimization by constructing a normalized weighted objective function to obtain the optimal solution.Simulation analysis shows that this method can improve the working efficiency of the manipulator and reduce wear and vibration.