基于n阶S形曲线的SCARA多目标运动规划
SCARA Multi-Objective Motion Planning Based on n-Order S-Shaped Curve
吴坤 1王明威 1周康2
作者信息
- 1. 郑州工商学院工学院,郑州 454000
- 2. 郑州大学机械与动力工程学院,郑州 450001
- 折叠
摘要
为了对SCARA机器人运动过程中产生的振动进行有效抑制,首先,建立了SCARA机器人的简化浮动坐标法动力学模型;然后,利用n阶S形曲线构造了同时对定位时间和SCARA机器人受到的冲击进行优化的多目标优化模型;最后,采用基于Kriging模型的NSGA-Ⅱ算法对优化问题进行求解.得到的多目标优化问题的Pareto前沿表明,四阶S形曲线的定位时间与三阶S形曲线大致相当,但是引起的冲击远小于三阶S形曲线.对优化结果的仿真也表明,以四阶S形曲线驱动的SCARA机器人运行过程更平滑,产生的残余振动也远小于三阶S形曲线.研究表明,四阶S形曲线具备比三阶S形曲线更加优良的振动抑制性能,在工程中具有广泛的应用价值.
Abstract
In order to effectively suppress the vibration generated during the motion of SCARA robot,this paper firstly establishes a simplified floating frame of reference dynamics model of SCARA robot,then con-structs a multi-objective optimization model that simultaneously optimizes the positioning time and the im-pact on SCARA robot by using n-order S-shaped curve line,and finally the NSGA-Ⅱ algorithm based on Kriging model is used to solve the optimization problem.The Pareto fronts of the multi-objective optimiza-tion problem show that the positioning time of the fourth-order S-curve line is approximately the same as that of the third-order S-curve line,but the impact caused is much smaller than that of the third-order S-curve line.Simulations of the optimization results also show that the SCARA robot driven by a fourth-order S-curve line runs more smoothly and generates much less residual vibration than a third-order S-curve line.The research of this paper shows that the fourth-order S-curve line has better vibration suppression perform-ance than the third-order S-curve line,and it has the value to be widely used in engineering.
关键词
机械电子工程/SCARA机器人/振动抑制/运动规划/n阶S形曲线Key words
mechatronic engineering/SCARA robot/vibration suppression/motion planning/n-order S-shaped curve引用本文复制引用
基金项目
国家自然科学基金项目(52005451)
教育部"产学合作协同育人"项目(202102256009)
出版年
2024
NETL
NSTL
维普
万方数据