基于时间最优的三节臂挖掘机斜坡工况轨迹规划

Trajectory planning of triple arm excavator under slope condition based on time optimization

为了实现对三节臂挖掘末端的精确控制,文中运用解析法对运动学逆解进行求解,依据此方法对普通臂挖掘机和三节臂挖掘机的30°斜坡工况进行作业范围仿真和对比分析,仿真结果表明:该机型平整的斜坡范围比普通臂的增加了7.41%。通过逆解可以确定出斜坡工况时间最优轨迹规划所经过的6个路径点,根据运动学约束,以4-3-3-3-4分段多项式进行插值,采用粒子群算法对各关节的插值时间进行优化,得到各个关节的位置、速度和加速度曲线。最后,将得到的关节角度信息转化在对应的油缸变化上,为特定工况下的挖掘轨迹控制提供依据。

In this article,in order to realize the accurate control at the excavator's end,the inverse kinematics solution is solved by means of the analytical method.According to this method,the operation ranges of the 30°slope condition for both the ordinary arm excavator and the triple arm excavator are subject to the simulation and comparison.The results show that the triple arm excavator's flat slope range is 7.41%higher than that of the ordinary arm.Through the inverse solution,the six path points for the time-based optimal trajectory planning of the slope condition are determined.According to the kinematic constraints,the interpolation is carried out by the 4-3-3-3-4 piecewise polynomial,and the interpolation time of each joint is optimized with the help of the particle swarm optimization algorithm,so as to work out the position,velocity and acceleration curve.Finally,the in-formation on the joint angle is transformed into the corresponding cylinder changes.This study provides basis for trajectory control of excavation under specific conditions.