A method and device for planning a moving trajectory of a manipulator based on power optimization
A moving trajectory and robotic arm technology, which is applied in the field of power-optimized robotic arm moving trajectory planning methods and devices, can solve the problems of large power loss, low working efficiency of the robotic arm, and low smoothness of the robotic arm, and achieves energy consumption Reduce and improve work efficiency and performance, and ensure the effect of applicability and robustness
Active Publication Date: 2021-01-22
北京蒂斯科技有限公司
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[0005] For this reason, the embodiments of the present invention provide a method and device for planning the moving trajectory of the robotic arm based on optimal power to solve the problems in the prior art due to the large power loss of the robotic arm and the low smoothness of the robotic arm. The problem of low working efficiency of the robotic arm
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[0060] The implementation mode of the present invention is illustrated by specific specific examples below, and those who are familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this description. Obviously, the described embodiments are a part of the present invention. , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.
[0061] see figure 1 A flow chart of a power-optimized robotic arm movement trajectory planning method provided in Embodiment 1 of the present invention, including:
[0062] S1. Obtain the key points in the joint space where the manipulator is connected, and use a quintic polynomial and a wave function to fit the key points to obtain the trajectory curve equation of the angle with respect to ti...
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The embodiment of the invention discloses a power optimum based mechanical arm moving track planning method and device. The power optimum based mechanical arm moving track planning method comprises the following steps: obtaining a key joint in a mechanical arm connecting joint space, and fitting the key point through a quintic polynomial and a wave function, thereby obtaining a track curve equation, with respect to time, of an angle; adopting a D-H algorithm to establish a dynamatic model of a mechanical arm for the key point, and combining the track curve equation to obtain a torque equation;establishing an optimized objective function taking mechanical arm power as a parameter based on joint motor related parameters and the torque equation; adding a constraint condition based on the power objective function, and adopting a particle swarm based optimization algorithm to solve the optimal value of mechanical arm moving track planning. The mechanical arm moving track curve is fitted through the quintic polynomial and the wave function, so that smoothness and stability of the mechanical moving track are guaranteed, friction among joints is reduced, an energy conversion rate is increased, production efficiency is improved, and the service life of machinery is prolonged.
Description
technical field [0001] The embodiments of the present invention relate to the technical field of trajectory planning of a robotic arm, and in particular to a method and device for planning a trajectory of a robotic arm based on optimal power. Background technique [0002] With the continuous development of industrial technology, industrial robots have become an indispensable part of the industrial field, including playing an important role in the fields of cargo handling, processing and welding, automobile manufacturing and aerospace manufacturing, reducing labor costs and Improve production efficiency. As an important part of industrial robots, the working characteristics of the mechanical arm will directly affect the efficiency and safety of industrial production. For the evaluation of the performance of the mechanical arm, while considering its reliability and safety, the resources consumed in the production process are also an important measure. [0003] At present, fo...
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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 王兆国徐丽媛
Owner 北京蒂斯科技有限公司