摘要
根据锚护机器人工作臂的作业效率和避障需求,设定了锚护机器人钻架的运动路径,然后使用4-3-3-3-3-3-4分段多项式插值得到工作臂各关节的运动轨迹,并提出自适应差分进化算法求解时间最优轨迹,结合运动学模型得到了钻架的运动路径。研究结果表明:得到的时间最优轨迹在满足工作臂的物理约束、作业效率和动作平稳性的同时保证工作臂和钻架不会与外界环境产生碰撞。
Considering the efficiency and obstacle avoidance requirements of the manipulator of the rock bolting robot,the path of the drilling frame of the rock bolting robot is set.Then the trajectory of each actuator of the manipulator is obtained by using 4-3-3-3-3-3-3-4 piecewise polynomial interpolation,and the adaptive differential evolutionary algorithm is proposed to solve the time-optimal trajectory.The path of the drilling frame is obtained by the kinematic model.The results show that the time-optimal trajectory obtained satisfies the physical constraints,the efficiency and the smoothness of the movement of the manipulator,while ensuring that the manipulator and the drilling frame do not collide with the external environment.
作者
邓镓敏
郭治富
王步康
DENG Jiamin;GUO Zhifu;WANG Bukang(China Coal Research Institute,Beijing 100013,China;China Coal Technology and Engineering Group Taiyuan Research Institute,Taiyuan 030006,China;National Engineering Laboratory for Coal Mining Machinery and Equipment,Taiyuan 030006,China)
出处
《煤炭技术》
CAS
北大核心
2022年第5期172-174,共3页
Coal Technology
基金
国家重点研发计划项目(2020YFB1214003)
山西省重点研发计划项目(2020XXX001,201903D121076)
中国煤炭科工集团太原研究院研究生基金(F2020-JY02)。
关键词
锚护机器人
时间最优轨迹规划
适应差分进化算法
分段多项式
rock bolting robot
time-optimal trajectory planning
adaptive differential evolutionary algorithm
piecewise polynomial
