机械科学与技术2018，Vol.37Issue(2)：232-236,5.DOI:10.13433/j.cnki.1003-8728.2018.0211
考虑关节动力学优化的机器人复杂轨迹规划
Complex Robot Trajectory Planning with Consideration of Joint-torque Dynamics Problem
摘要
Abstract
Considering the impact of joint-torque variation of robot on the working quality,and aiming at the force control problem during the complex trajectory planning,an optimized algorithm for dynamics problems based on direct collocation method was proposed.With the analysis of robot's dynamical model,the direct collocation method was used to turn the robot's dynamic optimization problem into multi-objective optimization problem of nonlinear equations,and the sequential quadratic programming was used to solve the equations.For the initial value sensitivity problem which exists in the highly non-convex function extreme value solving process of the equations,the linear quadratic regulator was used to provide iterative initial values for sequential quadratic programming.Theoretical analysis and numerical simulation results indicated that the proposed method can guarantee smooth variation of robot's torque,angle and angular velocity during complex trajectory operation,stabilize working quality,and it can control energy consumption during working process more reasonably.关键词
机器人/轨迹规划/动力学/直接配点法/线性二次调节器Key words
robots/trajectory planning/dynamics/direct collocation/linear quadratic regulator分类
信息技术与安全科学引用本文复制引用
周友行,石弦韦,孔拓,刘疏,周后明..考虑关节动力学优化的机器人复杂轨迹规划[J].机械科学与技术,2018,37(2):232-236,5.基金项目
国家自然科学基金项目(51375419,51375418)与湖南省自然科学基金项目(2016JJ2134)资助 （51375419,51375418）
