摘要
研究6R机器人的时间最优轨迹规划。采用牛顿-欧拉法建立机器人动力学模型;机器人末端路径采用多项式插值,通过动力学和运动学约束情况下的相平面法获得时间最优轨迹数据。针对机器人手动示教存在的精度不稳定、编程时间长、机器人工作效率低的问题,研发基于OpenGL和C#的数字孪生系统。将轨迹优化算法应用于该系统,实现了机器人离线示教、轨迹规划、离线仿真和在线控制。最后在ZRRT-608机器人上验证了该系统和时间最优轨迹规划算法,结果表明机器人作业时间达到最短。
The time optimal trajectory planning of the 6R robot was studied.The dynamic model of the robot was established by the Newton-Euler method.Polynomial interpolation was used for the end path of the robot,and the phase plane method under dynamic and kinematic constraints was used to obtain time-optimal trajectory data.Aiming at the problems of unstable accuracy,long programming time and low robot work efficiency in manual teaching of robots,a digital twin system based on OpenGL was studied.The trajectory optimization algorithm was applied to the system to realize offline teaching,trajectory planning,offline simulation and online control.Finally,the system and the time-optimal trajectory planning algorithm were verified on the ZRRT-608 robot.The results indicate that the robot has achieved the shortest operating time.
作者
张跃飞
李琰
苏宇锋
ZHANG Yuefei;LI Yan;SU Yufeng(School of Mechanical and Power Engineering,Zhengzhou University,Zhengzhou Henan 450000,China)
出处
《机床与液压》
北大核心
2024年第15期8-13,共6页
Machine Tool & Hydraulics
基金
国家重点研发计划项目(2018YFB0104100)
河南省科技攻关项目(232102220005)。
关键词
轨迹优化
离线编程
数字孪生
trajectory optimization
offline programming
digital twin
