Motion planning for improved operational reliability of composite industrial robots
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摘要: 复合工业机器人的应用能够有效提升智能制造车间生产效率。而在其运动规划问题中, 基于移动平台调整的机械臂初始站姿直接决定了目标任务是否能够可靠执行。为解决以上问题, 提出一种考虑机械臂初始站姿的运动规划优化方法。基于前期基础, 采用旋量描述和切片表征方法分别解决了复合工业机器人运动学建模和最小避障距离建模问题, 为进行轨迹优化提供了模型基础; 建立了最小化耗能当量和运动时间的运动规划优化模型, 通过考虑初始站姿影响设计了包括移动运动参数、冗余关节角度和机械臂运动参数在内的混合优化变量集, 同时考虑运动学约束和避障约束条件保证机械臂运动平稳性和安全性; 结果表明, 基于规划优化的复合工业机器人具有较高的操作可靠性。Abstract: The application of the composite industrial robot can effectively improve the production efficiency of the intelligent manufacturing shop. In the problem of its motion planning, the initial posture of the manipulator adjusted by the mobile device directly determines whether the target task can be executed reliably. To solve the above problem, a motion planning optimization method considering the initial posture of the manipulator was proposed. Based on the previous foundation, the proposed method solved the kinematics modeling and the minimum obstacle avoidance distance modeling of the composite industrial robot respectively by using screw description and slices characterization methods, which provided the model basis for trajectory optimization. The motion planning optimization model is established to minimize the equivalent energy consumption and the motion time. The hybrid variable set is designed by considering the initial station, including parameters of the mobile device and the manipulator, redundant joint angle. Constraints of kinematic constraints and obstacle avoidance are both considered to guarantee the movement stability and safety of the manipulator. Results indicate that the composite industrial robot based on planning optimization has high operational reliability
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表 1 箱型空间各障碍平面顶点坐标
障碍平面 顶点1 顶点2 顶点3 顶点4 平面1 [1 400-300 400] [2 400-300 400] [2 400 300 400] [1 400 300 400] 平面2 [2 400 300 400] [1 400 300 400] [1 400 300 2 000] [2 400 300 2 000] 平面3 [2 400-300 400] [2 400 300 400] [2 400 300 2 000] [2 400-300 2 000] 平面4 [1 400-300 400] [2 400-300 400] [2 400-300 2 000] [1 400-300 2 000] 平面5 [1 400-300 2 000] [2 400-300 2 000] [2 400 300 2 000] [1 400 300 2 000] 
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表 3 优化结果
参数 优化结果 β/rad -0.004 0 δx/mm 612.354 4 δy/mm -202.514 5 δz/mm -189.065 6 θrad/rad 0.954 8 Vratio/(%) 33.79 Aratio/(%) 28.223 Obs/mm 11.847 4 τmax/(N·m) 9.954 3 Tcov/min 12.97 F(Xs) 7.295
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