基于萤火虫算法避免线缆干涉约束的铣削机器人进刀轨迹规划

Avoiding Cable Interference Constraints Based on Firefly Algorithm Milling Robot Feed Trajectory Planning

机器人末端线缆挤压与过度缠绕是机器人工作过程中一个常见的问题,它会影响机器人安全性和工作效率,本文提出一种基于萤火虫算法对机器人运行轨迹进行重新规划来避免此类问题,该方法基于结构模态参数构造目标函数,并将建立机器人仿真平台以用于实时监测其位置和形态。该策略可以根据线缆形态特征预测缠绕风险,从而调整机器人运动轨迹,避免进入危险区域。同时,它也可以最大限度地发挥机器人工作空间。实验结果表明,该方法能够分析机器人进刀过程中线缆两端的位姿而间接分析柔性线缆的实时状态,在减小了冲击与振动的同时还能实现机器人运行平滑且稳定,它为解决更复杂的机器人线缠绕控制问题奠定了基础。

Robot end cable extrusion and excessive entanglement is a common problem in the robot working process,it will affect the robot safety and work efficiency,this paper proposes a firefly algorithm based on the robot trajectory re-planning to avoid such problems,the method based on the structural modal parameters of the construction of the objective function,and will establish a robot simulation platform for real-time monitoring of its position and morphology.The strategy can predict the risk of entanglement based on the morphological characteristics of the cables,and thus adjust the robot trajectory to avoid entering the danger zone.Meanwhile,it can also maximize the robot workspace.The experimental results show that this method can analyze the real-time state of the flexible cable indirectly by analyzing the position of the two ends of the cable during the robot's tool feeding process,which reduces the shock and vibration and at the same time realizes the smooth and stable operation of the robot,and lays a foundation for solving the more complicated control problems of the robot's wire entanglement.