摘要
以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题。由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案。结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划。在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解。仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑。
The trajectory planning problem of protraction leg for a hexapod robot is researched. The trajectory planning method based on power consumption optimization is proposed using the single leg as the research object. The kinematic model is established by Denavit-Hartenberg method. The trajectory in joint space is planned by Polynomial interpolation method taking into account the constraints of position, velocity and acceleration of the leg. Considering the mechanical energy cost and the energy loss by heat emission of the electric engine, genetic algorithm is applied to solve the nonlinear programming problem with respect to nonlinear equality and inequality constraints. The simulation results show that the method can save the protraction leg＇ s energy cost with the trajectory smooth.
出处
《计算机仿真》
CSCD
北大核心
2015年第1期438-441,共4页
Computer Simulation
关键词
六足机器人
摆动腿
轨迹规划
遗传算法
能耗
Hexapod robot
Protraction leg
Trajectory planning
Genetic algorithm
Power consumption
