基于NURBS的挖掘机自主控制铲斗轨迹规划方法

摘要

针对反铲斗挖掘机机器人化作业特点,提出一种基于非均匀有理B样条(NURBS)的挖掘机自主控制轨迹规划方法.利用该方法可以生成速度、加速度连续的挖掘轨迹.尽量避免了挖掘过程中的挖掘物对于铲斗的冲击.为了进行计算机控制,提出平均等分参数和一阶泰勒近似方法细化获得离散控制点的方法.结合挖掘机机器人化控制结构进行了仿真,结果证明该方法具有光滑的路径,且孰迹规划误差小的特点.%According to the operational features of robotic excavators,an autonomously-controlled trajectory planning method is proposed based on NURBS? Accordingly, the continuously-excavating trajectories regarding velocity and acceleration are generated to utmost avoid the attacks from excavated materials to buckets. To conduct the computerized control, the discrete control points are further obtained by the mean-bisectional parameter and first-order Taylor approximation. By simulating the robotic control structure, this method leads to the smooth paths and low trajectory planning errors.