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 3 各关节运动学约束

Tab.3 Joints kinematic constraints

$ i $	$v_{\rm{p}}/(\mathrm{m}\mathrm{m}\cdot\mathrm{s^{-1} })$	$a_{\rm{p}}/(\mathrm{m}\mathrm{m}\cdot{\mathrm{s} }^{-2})$	$j_{\rm{p}}/(\mathrm{m}\mathrm{m}\cdot{\mathrm{s} }^{-3})$
1	400	500	500
2	120	350	400
5	120	300	400

i	v_r/((°)·s⁻¹)	a_r/((°)·s⁻²)	j_r/((°)·s⁻³)
3	75	45	45
4	60	30	40
6	80	50	45
7	70	45	30
8	90	50	45