基于时间冲击最优的TBM换刀机器人轨迹规划

陶治同,陶建峰,覃程锦,刘成良

Trajectory planning of TBM disc cutter changing robot based on time-jerk optimization

Zhi-tong TAO,Jian-feng TAO,Cheng-jin QIN,Cheng-liang LIU

表 2 各关节位置列表

Tab.2 Joints position list

位置点 d/mm θ/（°） 关节1 关节2 关节5 关节3 关节4 关节6 关节7 关节8 1 0 0 0 0 0 0 0 0 2 14.38 2.57 103.18 −29.01 −5.42 17.01 5.42 3.01 3 81.67 14.58 217.03 −25.23 −6.28 33.03 6.28 10.23 4 225.76 40.31 365.02 −18.77 −8.12 49.05 8.11 15.77 5 378.41 67.57 428.21 −18.78 −8.57 65.06 8.56 18.78 6 538.07 96.08 460.00 −16.90 −11.21 81.08 11.20 19.07 7 686.70 122.62 460.00 −25.12 −12.87 76.79 12.86 13.12 8 830.28 148.26 460.00 −30.61 −13.65 62.07 13.65 10.61 9 967.20 172.71 460.00 −30.61 −13.65 47.35 13.65 11.61 10 1125.65 201.00 460.00 −25.60 −16.14 32.63 16.14 10.60 11 1291.57 230.63 460.00 −20.02 −20.54 17.91 20.54 6.02 12 1472.53 263.34 460.00 −16.89 −24.43 4.85 24.42 6.21