抗关节角度突变的多机械臂运动轨迹优化方法

Optimization Method for MotionTrajectory of Multi Manipulator with Resistance to Joint Angle Mutation

机械臂运动轨迹易受到机械臂振动幅度、关节冲击力和障碍物的影响,导致运动轨迹过长,且遇到关节角度突变问题时,影响轨迹运动效果,为了解决上述问题,提出抗关节角度突变下多机械臂运动轨迹优化方法。建立以减少多机械臂运动幅度和关节运动冲击为目标的运动学模型,运用该模型对多机械臂关节之间的位置误差进行补偿,以提高多机械臂的运动精度。将多机械臂样本输入到RBF神经网络模型中得到平滑的运动曲线,输出最佳优化轨迹,完成多机械臂运动轨迹优化。实验结果表明,所提方法的关节转角控制效果较好,鲁棒性较强,有效缩短了运动轨迹长度,能够有效抑制关节角度突变问题。

The motion trajectory of mechanical arm is easily affected by the vibration amplitude of the robotic arm,joint impact force,and obstacles,resulting in a long motion trajectory.When encountering sudden changes in joint angle,the trajectory motion effect is affected.In order to solve the above problems,an optimization method for multi robotic arm motion trajectory under joint angle mutation resistance is proposed.Firstly,a kinematic model was built to reduce the motion amplitude and joint impact of multiple mechanical arms.Then the model was used to com-pensate the position error between the joints of multiple manipulators and thus to improve the motion accuracy of mul-tiple manipulators.Moreover,multi-manipulator samples were input into the RBF neural network model to obtain a smooth curve and thus to output the optimal trajectory.Finally,the optimization for multi-manipulator motion trajectory was completed.Experimental results show that the proposed method has good effect in contrlling joint angle and strong robustness.In addition,the length of motion trajectory is effectively shortened,and the sudden change of joint angle can be effectively suppressed.