Please wait a minute...
J4  2010, Vol. 44 Issue (1): 29-33+183    DOI: 10.3785/j.issn.1008-973X.2010.01.006
机械工程     
基于最优时间的超声检测轨迹规划
郑慧峰1,2,周晓军1,张杨1
(1.浙江大学 机械与能源工程学院,浙江 杭州 310027; 2.中国计量学院 计量测试工程学院,浙江 杭州 310018) 
Time optimization based trajectory planning of ultrasonic inspection
ZHENG Hui-feng1,2, ZHOU Xiao-jun1, ZHANG Yang1
(1. College of Mechanical and Energy Engineering, Zhejiang University, Hangzhou 310027, China;
2. College of Metrological Technology and Engineering, China Jiliang University, Hangzhou 310027, China)
 全文: PDF  HTML
摘要:

为提高实体曲面工件超声自动化测量中曲面特征选取效率与探头的平稳性,对五自由度超声检测臂的终端探头从初始位姿到目标位姿进行最优轨迹规划.利用D-H表示法和牛顿-欧拉递推方法,分别建立超声检测臂运动学和动力学模型,以时间为参数,采用五次多项式对探头的初始位姿与目标位姿之间的运行轨迹进行拟合,以轨迹时间最短为目标,运用黄金分割法来寻找各关节的最大速度、加速度和驱动力(矩)约束下的最优轨迹.该方法符合实际工程应用要求,提高了探头运行平滑性和检测效率.

Abstract:

The trajectory of ultrasonic detector end of a 5-DOF ultrasonic inspection manipulator was planned from the origin pose to the aimed one to improve the efficiency of feature point selection during the ultrasonic inspection of surface entity with high stability of probe. Firstly, the D-H notation and Newton-Euler recursive method were applied to set up the kinematics and dynamics models, respectively. Then, a quintic polynomial parameterized with the time of trajectory propagation was taken to fit the trajectory of ultrasonic detector. Finally, aiming to move in the shortest time, golden-section was applied to search the time optimal trajectory with the maximal limits of velocity and acceleration including the torque of joint actuators. This method satisfies the project requirements and obviously improves the efficiency and stabilization of the ultrasonic inspection.

出版日期: 2010-02-26
:  TP 274.53  
通讯作者: 周晓军,男,教授,博导.     E-mail: cmeesky@163.com
作者简介: 郑慧峰(1981—),男,浙江江山人,博士生,从事超声自动化检测研究.
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章  

引用本文:

郑慧峰, 周晓军, 张杨. 基于最优时间的超声检测轨迹规划[J]. J4, 2010, 44(1): 29-33+183.

ZHENG Hui-Feng, ZHOU Xiao-Jun, ZHANG Yang. Time optimization based trajectory planning of ultrasonic inspection. J4, 2010, 44(1): 29-33+183.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2010.01.006        http://www.zjujournals.com/eng/CN/Y2010/V44/I1/29

[1] 江健. 航空构件一体化超声成像检测的若干关键技术研究[D]. 杭州:浙江大学, 2005: 5-7.
JIANG Jian. Key technology research of integrated ultrasonic-imaging survey about aviation components [D]. Hangzhou: Zhejiang University, 2005: 5-7.
[2] 王艳颖,吴瑞明,周晓军,等. 大型非对称复合材料构建超声C扫描技术研究[J]. 浙江大学学报:工学版, 2004, 38(9): 1208-1211.
WANG Yan-ying, WU Rui-ming, ZHOU Xiao-jun, et al. Research on ultrasonic C-scan technique for large unsymmetrical composite component [J]. Journal of Zhejiang University: Engineering Science, 2004, 38(9): 1208-1211.
[3] 吴思源,周晓军,江健,等. 超声检测中曲面重构和轨迹规划方法研究[J].浙江大学学报:工学版, 2006, 40(5): 763-767.
WU Si-yuan, ZHOU Xiao-jun, JIANG Jian, et al. Research of surface reconstruction and path generation [J]. Journal of Zhejiang University: Engineering Science, 2006, 40(5): 763-767.
[4] LIN E S, CHANG P R, LUH J Y S. Formulation and optimization of cubic polynomial joint trajectories for industrial robots [J]. IEEE Transactions on Automatic Control, 1983, AC-28(12): 1066-1073.
 
[5] KIM B K, SHIN K G. An efficient minimum-time robot path planning under realistic conditions \
[C\]∥Proceedings of 1984 American Control Conference. Sandiego:\
[s.n.\], 1984: 296-303.
[6] HOLLERBACH J M, SUH K C. Redundancy resolution of manipulator through torque optimization [J]. IEEE Journal of Robotics and Automation, 1987, 3(4): 308-316.
[7] TAN Guan-zheng, WANG Yue-chao. Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots [J]. Control Theory and Applications, 2003, 20(2): 185-192.
[8] 熊有伦. 机器人技术基础[M]. 武汉:华中理工大学出版社, 1995: 35-87.
[9] 徐缤昌,阙志宏. 机器人控制工程[M]. 西安:西北工业大学出版社, 1989: 126-156.

No related articles found!