多机协调吊运系统点到点轨迹规划策略研究

POINT⁃TO⁃POIINT TRAJECTORY PLANNING STRATEGY RESEARCH FOR A MULTI⁃ROBOT TOWING SYSTEM

针对速度与加速度不连续的被吊运物轨迹不能直接运用于多机器人协调吊运系统的逆运动学求解问题,提出一种基于点到点轨迹规划的逆运动学求解策略。首先,建立了该系统运动学与动力学模型。然后,对系统的逆运动学进行了分析,并对不同解的情况给出了解决办法。随后,提出了基于点到点轨迹规划求解可行逆解的策略,利用三种代数规划方法对被吊运物轨迹进行规划,在保证规划后的速度与加速度连续的基础上,结合逆运动学不同解的处理办法,得到更具有普适意义的可行逆解。最后,通过两个实例仿真验证了该策略的可行性,且只有五次多项式规划法符合拉力条件,研究结果为系统张力优化分布和控制奠定了基础。

In view of the velocity and acceleration discontinuity by lifted object trajectories cannot be directly applied to multi⁃robot coordination of inverse kinematics problem of the towing system,a inverse kinematic solution strategy based on point⁃to⁃point trajectory planning was proposed.Firstly,the kinematic and dynamic model of the system was established,and inverse kinematics of the system were analyzed and different solutions aiming at different situations were given.Secondly,the strategy for solving feasible inverse solution based on point⁃to⁃point trajectory planning,and three algebraic programming methods were used to plan the trajectory of lifted objects.The continuity of velocity and acceleration was ensured during the planning process.Finally,the feasibility of the strategy was verified by two simulation examples,and only the quintic polynomial planning method met the tension condition.The research results lay a foundation for the optimal distribution and control of system tension.