信息与控制2024，Vol.53Issue(3)：329-338,10.DOI:10.13976/j.cnki.xk.2024.3030
基于加速度约束的Delta机器人动态可行域时间最优速度规划
Time-optimal Velocity Planning of Delta Robot Dynamic Feasible Domain Based on Acceleration Constraints
李文鹏 1杜玉红 1董广宇1
作者信息
- 1. 天津工业大学机械工程学院,天津 300387||天津市现代机电装备重点实验室,天津 300387
- 折叠
摘要
Abstract
Using a Delta robot in a high-speed transportation environment has the advantages of low working efficiency and poor stability.We propose a dynamic feasible region velocity planning method with acceleration constraints based on time-optimal trajectory planning(TOPP-RA)and reachability analysis to solve time-optimal velocity planning under dynamic constraints.We adjust the global grid point velocity planning of TOPP-RA to the local grid point dynamic velocity plan-ning,eliminate the bias torque of the Delta robot dynamic model,convert the torque constraint into an acceleration constraint,achieve self-adjusting acceleration,and complete the dynamic feasible region velocity planning.Experiments show that dynamic feasible region velocity planning can a-chieve global optimal results with a single solution of only 0.015 s,and safe,stable,and efficient time-optimal control of the robot under joint torque constraints through acceleration self-adjust-ment.关键词
运动控制/速度规划/并联机器人/时间最优Key words
motion control/velocity planning/parallel robot/time-optimal分类
信息技术与安全科学引用本文复制引用
李文鹏,杜玉红,董广宇..基于加速度约束的Delta机器人动态可行域时间最优速度规划[J].信息与控制,2024,53(3):329-338,10.
