Model-constraint-based mechanical arm energy optimal trajectory planning control method and device

A trajectory planning, energy-optimized technology, applied in manipulators, program control, general control systems, etc., can solve problems such as limited motor rated torque, motor loss, and inability to give full play to motor performance, achieving low energy consumption, simple algorithm, The effect of improving work efficiency and service life

Pending Publication Date: 2018-10-09
SHANGHAI NORMAL UNIVERSITY
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Problems solved by technology

However, the rated torque of the usual motor is limited. Although it has three times the instantaneous torque over

Method used

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  • Model-constraint-based mechanical arm energy optimal trajectory planning control method and device
  • Model-constraint-based mechanical arm energy optimal trajectory planning control method and device
  • Model-constraint-based mechanical arm energy optimal trajectory planning control method and device

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Embodiment 1

[0065] This embodiment takes the horizontal multi-joint SCARA industrial robot as an example to introduce the energy-optimized trajectory planning solution under the condition of no friction. The specific steps are as follows:

[0066] The first step is to set the initial condition time beat t = 1s, the swing angle of the big arm is 45 degrees, and the swing angle of the forearm is 40 degrees and brought into the motion trajectory solver to solve the continuous motion trajectory of the horizontal multi-joint robot;

[0067] In the second step, according to the continuous motion trajectory of the joint in the first step, it is brought into the torque-time function solver to calculate the function of the torque with respect to time;

[0068] In the third step, the trajectory and the moment-time function calculated in the first and second steps are brought into the objective function solver for frictionless energy consumption to solve the objective function;

[0069] The fourth s...

Embodiment 2

[0071] This embodiment takes the horizontal multi-joint SCARA industrial robot as an example to introduce the energy-optimized trajectory planning solution under the condition of increasing friction. The specific steps are as follows:

[0072] The first step is to set the initial condition time beat t = 1s, the swing angle of the big arm is 45 degrees, and the swing angle of the forearm is 40 degrees and brought into the motion trajectory solver to solve the continuous motion trajectory of the horizontal multi-joint robot;

[0073] In the second step, according to the continuous motion trajectory of the joint in the first step, it is brought into the torque-time function solver to calculate the function of the torque with respect to time;

[0074] In the third step, the trajectory and the moment-time function calculated in the first and second steps are brought into the objective function solver with friction energy consumption to solve the objective function;

[0075] The fou...

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Abstract

The invention relates to a model-constraint-based mechanical arm energy optimal trajectory planning control method and device. The model-constraint-based mechanical arm energy optimal trajectory planning control method comprises the steps that initial conditions are set and mechanical arm joint angle position description with respect to time is calculated and obtained through a cubic spline interpolation algorithm; on base of the mechanical arm joint angle position description and in combination with a dynamics model, a continuous function of moment with respect to time is obtained; a nonlinear constrained planning model taking mechanical arm movement energy consumption as the optimizing target is established, and in combination with the mechanical arm joint angle position description, thecontinuous function of the moment with respect to time and friction force energy consumption, energy consumption of a target function is solved; and on base of the nonlinear constrained planning model taking mechanical arm movement energy consumption as the optimizing target, the minimum value of energy optimal trajectory planning is iteratively solved adopting a sequential quadratic planning algorithm, and a mechanical arm optimal trajectory is obtained. Compared with the prior art, the model-constraint-based mechanical arm energy optimal trajectory planning control method and device do notneed a large number of complex calculation and have good real-time performance, and energy consumption is least.

Description

technical field [0001] The invention relates to a manipulator control technology, in particular to a model constraint-based energy optimal trajectory planning control method and device for a manipulator. Background technique [0002] With the development of industrial robots, their production technology has been gradually improved, and their costs have been relatively reduced, which makes it easier for "human" bionic robots (such as mechanical arms) to enter people's lives. People are full of expectations for future intelligent robots, not only expecting that robots can interact with humans, more and more like the appearance of human arms, but also hope that the size will be smaller and the performance will be better and better. However, the rated torque of the usual motor is limited. Although there are three times the instantaneous torque overload capacity, the performance of the motor cannot be fully utilized, and there is also a large loss to the motor. With the developm...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664G05B2219/40519
Inventor 安康方厚招王丽慧周华徐颖
Owner SHANGHAI NORMAL UNIVERSITY
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