摘要
针对工业机器人作业过程中的运动碰撞问题,提出一种基于非均匀损失场的机器人无碰撞路径生成方法。该方法主要分为3个阶段:数据准备、粗规划和精规划。在数据准备阶段,通过标定手段确定工作站模型,拟构最小包围盒构造空间损失场;通过空间降维技术将原问题转化为二维规划问题。在粗规划阶段,通过排列组合法确定粗规划路线。精规划以粗规划的结果作为初始值,应用多项式插值法减少搜索范围,应用梯度下降法求解最优无碰撞路径。所提出的方法在设立的实验中取得了良好的结果,证明了其有效性及合理性。
Aimed at the kinematic collision problem in industrial robot operation,a collision-free path generation method for robots based on non-uniform loss field was proposed.The method was divided into three stages,namely data preparation,rough planning and fine planning.In the data preparation stage,the workstation model was determined by means of the calibration,and the spatial loss field was constructed by fitting the minimum bounding box;the original problem was transformed into a two-dimensional programming problem by using the dimensional reduction technology.In the rough planning stage,the rough planning route was determined by using the permutation and combination method.In the fine programming stage,the result of the rough planning was taken as the initial value,the polynomial interpolation method was applied to reduce the search range,and the gradient descent method was applied to solve the optimal collision-free path.By using the method,good results have been obtained in the experiment,which proves its effectiveness and rationality.
作者
李宝旺
王志远
潘高峰
朱大虎
LI Baowang;WANG Zhiyuan;PAN Gaofeng;ZHU Dahu(Manufacturing Technology Center,CRRC Tangshan Co., Ltd., Tangshan Hebei 063035, China;School of Automobile Engineering, Wuhan University of Technology, Wuhan Hubei 430070, China;Shanghai CRRC Hange Marine and Offshore Engineering Co., Ltd., Shanghai 200082, China)
出处
《机床与液压》
北大核心
2020年第21期6-11,共6页
Machine Tool & Hydraulics
基金
国家重点研发计划(2017YFB1303403):国家自然科学基金面上项目(51675394)。
关键词
非均匀损失场
无碰撞路径规划
空间降维
多项式插值法
梯度下降法
Nonuniform loss field
Collision-free path planning
Space dimension reduction
Polynomial interpolation method
Gradient descent method
