工业机器人运动轨迹规划的最优控制

Optimal control of motion trajectory planning for industrial robots

针对工业机器人的轨迹规划问题,为降低末端执行器的位置误差,以工业机器人末端执行器的位置误差为性能指标,以工业机器人的关节角度为控制向量,构建一个含有控制的最优控制模型.对于该问题的求解,应用控制参数法,将该最优控制问题等价为参数优化问题;构造序列二次规划(SQP)优化算法求解相应的近似优化问题.通过该算法,得到了工业机器人位置的计算值,与实验值相比误差较小,证明了该算法的有效性.

Aiming at the problem of trajectory planning of industrial robots,so as to lower the position error of end-effector,an optimal control model subject to control was established with the position error of the end-effector as the index,and the joint angle of the industrial robots as the control vector.To solve the optimal control problem,the control parameter method was applied to convert the optimal control problem to the parameter optimization problem.A SQP-based algorithm was established to solve the corresponding approximate optimization problem.The calculated value of the industrial robot was obtained by the algorithm,and the error was smaller than the experiment value,which proves the effectiveness of the algorithm.