摘要
为提高破拆机器人拆除窑衬的工作效率,用4-3-4分段多项式进行轨迹规划,建立时间最短的优化目标,在运动学约束条件下,采用改进鲸鱼优化算法优化各关节的运动时间。混沌映射初始化种群和非线性收敛因子相结合的鲸鱼优化算法寻优能力较强,可以降低算法陷入局部最优的概率。仿真结果表明:各关节的角速度和角加速度曲线连续无突变,且满足运动学约束条件,能较好地发挥破拆机器人的运动学性能。本研究对破拆机器人拆除窑衬实现时间最优轨迹规划具有一定参考意义。
In order to improve the efficiency of the demolition robot to demolish the kiln lining,the 4-3-4 segmented polynomial was applied to trajectory planning and an optimization objective of the shortest time is established,and the motion time of each joint is optimized by using the improved whale optimization algorithm under the kinematic constraints.The combination of chaotic mapping initialization population and nonlinear convergence factor for whale optimization algorithm has a strong optimization seeking ability,which can reduce the probability of the algorithm falling into local optimum.The simulation results show that the angular velocity and angular acceleration curves of each joint are continuous without abrupt changes,and satisfy the kinematic constraints,which can better perform the kinematic performance of the demolition robot.This study has some reference significance to achieve time-optimal trajectory planning for the demolition robot to demolish the kiln lining.
作者
滕儒民
张文帅
王欣
王大洪
TENG Rumin;ZHANG Wenshuai;WANG Xin;WANG Dahong(School of Mechanical Engineering,Dalian University of Technology,Dalian 116023,Liaoning,China;Shenzhen Institute of Advanced Intelligent Technology,Shenzhen 518049,Guangdong,China)
出处
《中国工程机械学报》
北大核心
2023年第6期562-567,共6页
Chinese Journal of Construction Machinery
基金
深圳战略新兴和未来产业发展资金项目(ZLZBCXLJZI20160805020017)。
关键词
破拆机器人
轨迹规划
改进鲸鱼优化算法
时间最优
demolition robot
trajectory planning
improved whale optimization algorithm
time optimal
