Multi-machine cooperative trajectory optimization method based on quintic non-uniform rational B-spline

Abstract

The invention discloses a multi-machine cooperative trajectory optimization method based on a quintic non-uniform rational B-spline, and the method comprises the steps of firstly, carrying out discretization on a machining path of each robot after the respective motion trajectory of each robot is determined, carrying out inverse solution on the discrete points through the robots, and obtaining a series of joint position sequences in a joint space, interpolating the joint sequence by using a quintic non-uniform rational B spline mathematical model, and constructing a high-order continuous joint trajectory with designable end point motion parameters; adopting a non-dominated sorting genetic algorithm (NSGA2) with an elitist strategy, taking operation time and trajectory smoothnessas targets, taking time intervals serve as decision variables to optimize the motion trajectory of a mechanical arm, and obtaining a high-order continuous optimized trajectory. According to the method, a Runge phenomenon of polynomial interpolation caused by increase of the number of times is overcome, and the problem that a single-target optimization technology cannot meet the requirement of actual engineering on the comprehensive performance of the robot under the advanced manufacturing background is solved.

Description

technical field [0001] The invention relates to the direction of aerospace manufacturing in the field of intelligent manufacturing, in particular to a multi-machine collaborative trajectory optimization method based on 5th degree non-uniform rational B-splines. Background technique [0002] With the development of high technology and the promotion of demand, the miniaturization of spacecraft has become a development trend. However, in terms of the development and production of micro-nano satellites, my country has been in the follow-up stage compared with the United States and other countries. At present, it takes about 60 days for the Micro-Nano Satellite Research Institute of the Satellite Innovation Research Institute to complete the assembly, integration testing and testing of a micro-nano satellite on the basis of a complete set of products. This is far from meeting the needs of mass production of micro-nano satellites. The additive manufacturing system built by indus...

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Problems solved by technology

[0004] The present invention provides a multi-machine collaborative trajectory optimization method based on non-uniform rational B-splines of degree 5, aiming to solve the problems in the prior art that robot joint motion is not stable, and the terminal motion cannot meet high-precision cooperative motion due to joint vibration. It is proposed that in the actual application, trajectory planning not only needs to consider the manufacturing process, but also needs to optimize time, energy, stability, etc.

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