【作者】 刘能广；

【导师】 柴苍修；

【作者基本信息】 武汉理工大学 ， 机械设计及理论， 2008， 硕士

【摘要】 机器人的轨迹规划在机器人的控制中具有重要的地位。本文首先介绍了国内外机器人的轨迹规划的研究现状及意义,分析了各种关于机器人轨迹规划的规划算法,指出了它们的优点和存在的不足。本文的规划主要是在操作空间中,依据喷漆机器人喷漆面积和约束的要求来进行规划的。通过对机器人操作臂的轨迹规划的具体分析、基于运动学寻轨迹算法的模拟实现、关节空间的轨迹优化,喷漆面积的优化等方面的全过程的研究,阐述了喷漆机器人轨迹规划的一般规律。论文中根据喷漆机器人轨迹规划的要求和约束,提出一种新的机器人轨迹规划的方法——二层轨迹规划问题(BLTOPP)。研究出的规划方法可以很好解决在喷漆机器人工作时的喷漆质量,实时性和精确性的矛盾,以及关节空间中的时间最小优化问题。在基于喷漆机器人的运动学的轨迹规划下,为了增加机械臂的运动范围。提高喷漆效率。本文采用了依据机械臂的运动要求而改变安装在机械臂末段的喷嘴与被喷涂部件的距离的方法。由于需要同时满足两个不同的要求:机械臂运行的最佳位姿和喷漆质量(重复覆盖面积最小且不能有空隙),并且两者的变量是相互耦合的,所以属于二层规划。文中对于下层函数(时间最小)选用的是最优时间轨迹规划方法(MTTP)优化求解中间结点,增加了机器人的动力学的约束,使得结果更加精确。在对于上层函数(喷漆质量的优化)上层选用的是遗传算法(GA)优化,通过遗传机制优化的到全局最优解,使得两者都达到最好的优化,最后在MATLAB平台上进行离线编程和仿真,并在机器人实验室进行了试验,达到了预期的结果,论证了方法的可行性。更多还原

【Abstract】 Robotic trajectory planning plays a very important role in robotic control domain. This thesis is presented the milestone and necessarily of robotic trajectory planning firstly. Then analyses several different types of robotic trajectory planning algorithm, the strong points of these algorithms are reviewed, the weak points are highlighted as well.This thesis is devoted to the study of generating a trajectory under the painting coverage area and the constraints. By the researching processes of concrete analysis of trajectory planning on robotic manipulator arm, imitation of trajectory based on kinematics and optimization of trajectory in the articulation space, this paper formulizes general regularity of trajectory planning.A novel approach is employed to generate this trajectory based on the requirements and constraints of spray robot-----Bi-level Trajectory Optimal Planning Problem(BLTOPP). The method researched resolves contradiction between real-time and accuracy in the operation space, and problem of minimal optimization about time.In order to increase the flexibility of robot arm to improved the productivity of paint spray. Thus, the changeable stream length method is employed in this thesis. The coverage area is changed with the stream length. Due to the influence of robot pose selection, coverage quality (minimum overlap area and no bank area) and coupled parameters, this optimal problem is a bi-level problem. In process of the trajectory planning depending on robotic inverse and forward kinematics, MTTP is adopted to optimal the middle nodal point. Due to the constraint of robotic dynamic is enhanced, the results is more accuracy. Genetic algorithm is employed to optimal the painting quality. In the end of this thesis, the simulation is conducted by MATLAB, and experiment is conducted on the real-world robot. The method is provided reasonable by results.更多还原