摘要
为了提高船舶机械臂轨迹规划控制精度,以船舶大分段划线机械臂为目标,提出机械臂轨迹规划控制技术。采用多主机并行的方式测量船舶机械臂位移角度,提出测量点坐标精度指标,建立空间直角坐标系,利用机械臂位移角度,对其位移坐标进行空间变换,确定机械臂各运行点位姿,实现机械臂点位控制,在此基础上引入插补法,保证点位连续,实现船舶机械臂轨迹规划控制。实验数据表明,与传统方式相比,机械臂直线轨迹控制准确度提高22%,曲线轨迹控制准确度提高29%,具有鲜明有效性。
In order to improve the accuracy of the trajectory planning control of the ship’s mechanical arm, this paper proposes the trajectory planning control technology of the ship’s large segment marking mechanical arm. Adopts core machine and auxiliary machine parallel method, displacement Angle measuring of ship mechanical arm, and put forward the measurement point coordinate precision index, and guarantee the accuracy of measurement, establish the space rectangular coordinate system, using the mechanical arm Angle displacement, the displacement coordinate space transformation, to determine the mechanical arm of operation point, realize the mechanical arm position control, on the basis of the introduction of interpolation method, realize the manipulator trajectory planning and control of the ship. Experimental data show that compared with the traditional method, the linear trajectory control accuracy of mechanical arm is improved by 22%, and the curve trajectory control accuracy is improved by 29%, which has obvious effectiveness.
作者
姬清华
JI Qing-hua(Xinxiang University, Xinxiang 453003, China)
出处
《舰船科学技术》
北大核心
2018年第12X期25-27,共3页
Ship Science and Technology
关键词
机械臂
轨迹控制
位移角度
空间变换
插补法
mechanical arm
track control
displacement angle
space transformation
interpolation method
