摘要
为了提高机械臂末端细长柔性执行器在预定轨迹上的运行精度,并减少在狭小空间作业时由机械臂运动引起的振动,本研究提出了一种基于粒子群优化算法和遗传算法的轨迹规划策略,以实现机械臂末端振动的有效抑制.研究中,细长执行器被抽象为柔性梁并附加末端集中质量,采用笛卡尔建模方法对柔性梁的动力学进行简化.通过优化算法对机械臂末端轨迹规划的插值参数进行调整,同时考虑了执行任务过程中末端振动及停止时的残余振动,构建了以最小化振动幅值为目标的优化模型.仿真结果表明,优化后的轨迹显著降低了末端在整个运动过程中的振动幅度.随后,为确保实验中的机械臂能够精确执行该轨迹,建立了机械臂系统的多刚体运动学模型,并在奇异空间和避障约束条件下求解得到了最优的关节运动轨迹.最后,利用六自由度机械臂执行所编写的关节运动指令,并通过双目视觉系统监测柔性末端的实际运动情况,实验结果验证了本研究基于动力学的轨迹规划与优化算法在振动抑制方面的有效性.
To improve the running accuracy of the end-actuator of a flexible manipulator in the desired trajectory and reduce the vibrations caused by the motion of the manipulator in a confined space,this study proposed a trajectory planning strategy based on the particle swarm optimization algorithm and genetic algorithm to effectively suppress vibrations.In the study,the slender actuator was abstracted as a flexible beam with concentrated terminal mass attachment,and the dynamics of the flexible beam were simplified using the Cartesian modeling method.The interpolation parameters of the end-actuator trajectory planning were adjusted by the optimization algorithm,considering the end-actuator vibrations during the task execution and the residual vibrations at the end of the task,and an optimization model was built to minimize the amplitude of vibrations.The simulation results show that the optimized trajectory significantly reduces the vibration amplitude of the end-actuator throughout the motion process.To ensure that the manipulator can accurately execute the trajectory,a multi-body kinematic model of the manipulator system was established,and the optimal joint motion trajectory was obtained by solving the problem under the singularity space and obstacle constraint conditions.In the experiment,the joint motion commands were executed by the manipulator,and the actual motion of the flexible end-actuator was monitored by the binocular vision system to verify the effectiveness of the dynamics-based trajectory planning in vibration suppression.
作者
罗青鹏
李承林
刘显波
Luo Qingpeng;Li Chenglin;Liu Xianbo(School of Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《动力学与控制学报》
2025年第6期38-49,共12页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(12272218)
国家重点研发计划资助项目(2023YFF0713400)。
关键词
柔性机械臂
轨迹规划
振动抑制
粒子群优化算法
遗传算法
flexible robotic arm
trajectory planning
vibration suppression
particle swarm optimization
genetic algorithm
作者简介
通信作者:刘显波,E-mail:liuxianbo@sjtu.edu.cn。
