农业机械学报2024，Vol.55Issue(1)：22-38,17.DOI:10.6041/j.issn.1000-1298.2024.01.002
农业物料移运机器人协同作业时间最优轨迹规划方法
Time-optimal Trajectory Planning Method for Cooperative Working of Agriculture Material Handling Robot
摘要
Abstract
To address the issues of high labor intensity andlow work efficiency for the transfer of agricultural products from harvesting place to warehouse or transportation vehicle in the agricultural field,a material handling robot was designed,which enabled the robot to perform tasks such as grabbing,transporting,and placing materials.Aiming at the problem that the moving track and the working track were relatively independent and time-consuming when the material handling robot moved and grabed simultaneously,a time-optimal trajectory planning methodology for the cooperative working of the designed material handling robot was proposed,which can obtain the time-optimal trajectory for the simultaneous performance of the robot driving and grasping operation.This methodology was used to conduct the time-optimal trajectory planning for the material handling robot,which allowed to take into account the robot's kinematic and dynamic constraints of both the operation system and the driving system.Additionally,a control law was designed based on Lyapunov theory to reduce the error for the robot's path tracking and improve the accuracy and stability of the robot's trajectory tracking.Finally,the effectiveness of the time-optimal trajectory planning method for collaborative operation was verified through joint simulation by the co-simulation in Matlab/Simulink and ADAMS.The results showed that the proposed methodology can enable the robot to obtain a smooth and time-optimal motion trajectory during the material handling process,the displacement,velocity,acceleration,and force/torque of the operation system,and the tractive force curves of each joint of the robot changed gently,and the two-track tractive force met the requirements of the robot which can quickly and stably track the time-optimal path.The designed material handling robot and the proposed time-optimal trajectory planning methodology can provide an effective technical solution for the transfer of agricultural products in the agricultural field.关键词
物料移运机器人/轨迹规划/时间最优/协同作业/A*算法Key words
material handling robot/trajectory planning/time optimization/cooperative working/A* algorithm分类
信息技术与安全科学引用本文复制引用
郭万金,李儒,郝钦磊,曹雏清,赵立军..农业物料移运机器人协同作业时间最优轨迹规划方法[J].农业机械学报,2024,55(1):22-38,17.基金项目
国家自然科学基金面上项目(52275005)、中央高校基本科研业务费专项资金项目(300102253201)、长安大学高等教育教学改革研究项目(JY202354)、安徽省博士后研究人员科研活动经费项目(2023B675)、中国博士后科学基金项目(2022M722435)、安徽省教育厅科学研究重点项目(KJ2020A0364)和高校优秀青年人才支持计划项目(2019YQQ023) （52275005）
