【摘要】 研究了MD1200-YJ型码垛机器人末端"门"字型轨迹工况下的低能耗轨迹优化问题。首先,建立了考虑弹簧力矩的码垛机器人逆动力学模型,进而建立其能耗模型。其次,针对码垛机器人末端"门"字型轨迹的典型工况,采用5NURBS插值函数进行关节空间下的轨迹规划。再次,基于加权系数法,建立了由平均能耗最小和跃度绝对值峰值最小构成的综合优化目标函数,以末端轨迹分段时间为设计变量,以总时间不变以及关节电机额定参数为约束条件,运用遗传算法进行求解。最后,比较优化前后码垛机器人的关节能耗和跃度指标,验证了优化方法的有效性。更多还原

【Abstract】 Low-energy trajectory optimization for MD1200-YJ type palletizing robot under the door type trajectory working conditions is researched. Firstly,inverse dynamics model and energy consumption model of the palletizing robot are established. Secondly,according to the typical working condition of palletizing robot terminal "door"type trajectory,5NURBS interpolation function is used for trajectory planning in joint space. Thirdly, a comprehensive optimization objective function is established, which consists of minimum average energy consumption and minimum peak value of jerk absolute value,based on the weighted coefficient method. The division time of trajectory are selected as optimization variables; the total time permanent and rated parameters of joint motors are selected as constraint condition; The Genetic Algorithm is used to solve the problem. Finally,through simulation method to compare energy consumption and jerk of before and after optimization,effectiveness of optimization method is proved.更多还原