【摘要】 为了提高水下机器人机械臂对导管架清污的工作效率,缩短电机持续高负荷工作的时间,在采用声呐回波数据识别工作区域附着物分布图的基础上,分别以工作时间最短和能耗最小为优化目标,提出基于蚁群算法的机械臂工作路径规划算法。通过MATLAB和PRO/E软件建立机械臂三维运动学模型,在某一随机附着物分布条件下,采用以上2种路径优化算法得到相应的优化路径。仿真结果表明,与传统的扫描路径相比,文中提出的2种优化算法在满足工作区域范围的前提下,能提高机械臂2倍以上的工作效率并降低50%的能耗,证明了该路径优化算法的有效性。更多还原

【Abstract】 To improve the efficiency of the manipulator arm of an underwater robot for cleaning jackets and to shorten the motor working time under high load, the sonar echo data are used to identify the distribution of attachments onto the working area, and two working path planning algorithms of manipulator arm based on ant colony algorithm is proposed by respectively taking the shortest working time and the minimum energy consumption as the optimization targets. A three-dimensional kinematic model of the manipulator arm is established through the software MATLAB and PRO/E. Two optimal paths are obtained by the proposed algorithms for a certain random attachment distribution. Simulation results show that compared with the traditional scan path, the proposed two working path planning algorithms increase the working efficiency of the manipulator arm by more than 2 times and reduce its energy consumption by 50% under the premise of satisfying the range of working area, verifying the feasibility of the two proposed path planning algorithms.更多还原