双机械臂协作最优装配位置及多目标轨迹优化

Optimal Assembly Position and Multi-objective Trajectory Optimization for Dual Robotic Arms Collaboration

为了解决以传统人工示教方式确定双机械臂协作装配位置的局限性和随机性,以双机械臂轴孔协调装配为工程背景,针对协作装配过程中机械臂的整体运动灵活性和轨迹规划,采用粒子群算法进行多次寻优,求解整体全局灵活性最优的装配位置,并基于最优位置进行了多目标轨迹优化。分析了双机械臂协调装配过程中的运动约束关系,以可操作度为灵活性评价指标,提出了双机械臂协作装配系统的可操作度评价方法,以此构建优化目标函数,采用粒子群算法,在双机械臂协作空间中求取系统全局可操作度最优的装配位置;基于灵活性最优位置,采用多目标粒子群算法,以时间、能耗、冲击为目标进行了轨迹优化,并在Matlab机器人仿真平台进行了仿真分析。结果表明,将灵活性指标运用到轨迹规划中,能提高机械臂作业效率,降低能耗与冲击损耗;且整个运动过程可维持较高可操作度,能有效规避传统人工示教方式的随机性,实现双机械臂协作装配的最优灵活性轨迹规划。

In order to solve the limitation and randomness in determining the collaborative assembly position of dual robotic arms by the traditional manual demonstration method,and taking the coordinated assembly of dual robotic arms axle holes as the engineering background,this study uses the particle swarm algorithm to perform multiple searches for the optimal assembly position for the overall global flexibility in the collaborative assembly process and carries out multi-objective trajectory optimization based on the optimal position,with respect to the overall motion flexibility and trajectory planning of the robotic arm.Firstly,the motion constraint relationship in the coordinated assembly process of double robotic arms is analyzed,the operability degree is used as the flexibility evaluation index,the operability evaluation method of dual robotic arms collaborative assembly system is proposed,the optimization objective function is constructed,and the particle swarm algorithm is used to find the assembly position with the optimal global operability degree of the system in the collaborative space of double robotic arms.Finally,based on the optimal position of flexibility,the multi-objective particle swarm algorithm is used to optimize the trajectory with the objectives of time,energy consumption and impact;by performing simulation analysis in the Matlab robot simulation platform,the results show that,by applying the flexibility index to the trajectory planning,it can improve the operation efficiency of the robotic arm,while reducing energy consumption and impact loss,and maintain a high degree of operability during the whole motion process,effectively avoiding the randomness of the traditional manual teaching method,thus realizing the optimal flexible trajectory planning for collaborative assembly of dual robotic arms.