喷浆机械手时间最优与脉动最优轨迹规划

摘要

In order to optimize the productivity of shotcrete manipulators and reduce the vibration, based on cubic spline function interpolation, a method used for optimal trajectory planning of manipulators was proposed. Trajectory planning of shotcrete manipulators was finished by using this method. The objective function defined by weighted coefficient was used as a weighted balance of traveling time and jerk of the manipulators. Kinematic constraints of joint velocities, accelerations, jerks, and traveling time were taken into account, so as to make the traveling time and jerk of manipulator in the movement process achieve the comprehensive optimum in some degree. Traveling time was solved by using sequential quadratic programming strategy, then time-jerk optimal trajectories which satisfy nonlinear kinematic constraints were planned. The results show that plan trajectory of shotcrete manipulators by using this method is reasonable and effective. This method can solve the problem that jerk of time-optimal trajectory is larger and action time of jerk-optimal trajectory is too long, and it also provides a solution to the problem of manipulator's time-jerk optimal trajectory planning under the nonlinear constraints.%为提高喷浆机械手的作业效率,减小机械手的振动,基于三次样条函数插值法,提出一种用于机械手的最优轨迹规划方法,对喷浆机械手轨迹进行规划.采用加权系数法定义目标函数,同时考虑关节速度、加速度、脉动以及动作时间等约束条件,使机械手运动过程中的动作时间和脉动在某种程度上达到综合最优.采用序列二次规划算法求解最优运动的时间,规划出满足要求的最优轨迹.研究结果表明:采用此方法对喷浆机械手进行轨迹规划是合理的和有效的；该方法可以解决时间最优轨迹脉动较大和脉动最优轨迹动作时间过长的问题,为非线性约束条件下机械手时间与脉动综合最优轨迹规划问题提供了一种解决方案.