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浙江大学学报(工学版)
机械与能源工程     
三自由度液压伺服机械手轨迹优化
刘湘琪1,2,蒙臻1,倪敬2,朱泽飞2
1. 浙江理工大学 机械与自动控制学院,浙江 杭州 310018; 2.杭州电子科技大学 机械工程学院,浙江 杭州 310018
Trajectory planning algorithm for hydraulic servo manipulator of three freedom
LIU Xiang qi1,2, MENG Zhen1, NI Jing2, ZHU Ze fei2
1. School of Mechanical Engineering and Automation,Zhejiang Sci Tech University, Hangzhou 310018, China;
2. School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
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摘要:

采用闭链矢量运动学模型,引入5阶B样条曲线插值逼近理论,提出一种基于非轴系驱动空间的液压机械手运行轨迹规划算法.针对当满足运动学约束时机机械手的总运行时间优化问题,引入改进型粒子群优化算法,优化求解时间步长,从而实现时间最优连续运动轨迹曲线.实际应用的实验结果显示:可以将实际工具中心点(TCP)轨迹和期望轨迹的绝对误差控制在25 mm以内,为液压机械手运动控制提供较理想的轨迹曲线.该研究较好地解决了非关节驱动液压机械手系统运动规划问题,提高了针对复杂路径规划算法的效率.

Abstract:

A hydraulic manipulator  trajectory planning algorithm based on non axis driving space was proposed by introducing the closed chain vector kinematics model and the 5 order B spline curve interpolation approximation theory.  For the optimization problem of the total running time of the manipulator when met  the kinematic constraints, the improved particle swarm optimization was introduced to optimize the solving step, so as to realize the time optimal continuous trajectory curve. The experimental results of practical application showed that the absolute error was less than 25 mm between the  actual tool center point (TCP) trajectory and the desired trajectory. The research can solve the motion planning of the non joint driving hydraulic manipulator and improve the efficiency of complex path planning algorithm.

出版日期: 2015-10-15
:  TP 241.2  
通讯作者: 朱泽飞,男,教授,博导.ORCID:0000 0002 6876 8257.     E-mail: zzf.3691@163.com
作者简介: 刘湘琪(1975-),女,博士生,从事机械设计及理论研究.ORCID: 0000 0001 8782 566X. E-mail:lxiangqi@hdu.edu.cn
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引用本文:

刘湘琪,蒙臻,倪敬,朱泽飞. 三自由度液压伺服机械手轨迹优化[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008 973X.2015.09.022.

LIU Xiang qi, MENG Zhen, NI Jing, ZHU Ze fei. Trajectory planning algorithm for hydraulic servo manipulator of three freedom. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008 973X.2015.09.022.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008 973X.2015.09.022        http://www.zjujournals.com/eng/CN/Y2015/V49/I9/1776

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