摘要
抓取机械臂的运行轨迹较为复杂,受环境干扰因素影响较大,在轨迹跟踪时存在跟踪误差大、跟踪效果差的问题。为提升机械臂的轨迹跟踪性能,提出应用群智感知算法的抓取机械臂轨迹跟踪方法。该方法首先对机械臂展开动力学分析,结合环境拟合方法建立机械臂避障模型,生成机械臂最佳期望移动轨迹;再通过智能感知算法完成机械臂轨迹规划,并修正机械臂运动学逆解,从而降低机械臂的末端轨迹误差;最后通过建立的机械臂轨迹跟踪算法完成机械臂的轨迹跟踪。实验结果表明,运用该方法开展机械臂轨迹跟踪时,跟踪效果好,跟踪误差小。
The running trajectory of the grasping robot arm is relatively complex and is greatly affected by environmental interference factors.There are problems of large tracking error and poor tracking effect during trajectory tracking.In order to improve the trajectory tracking performance of the manipulator,a trajectory tracking method of the grasping manipulator using the crowd-sensing algorithm is proposed.The method firstly analyzes the dynamics of the manipulator,establishes the obstacle avoidance model of the manipulator combined with the environment fitting method,and generates the best expected movement trajectory of the manipulator;then completes the trajectory planning of the manipulator through the intelligent perception algorithm,and corrects the inverse kinematics of the manipulator.So as to reduce the end trajectory error of the robot arm;finally,the trajectory tracking of the robot arm is completed through the established robot arm trajectory tracking algorithm.The experimental results show that when the method is used to track the trajectory of the manipulator,the tracking effect is good and the tracking error is small.
作者
祝毅鸣
刘鑫
ZHU Yi-ming;LIU Xin(Sias University,He’nan Xinzheng 451150,China;School of Business,Central South University of China,He’nan Changsha 410083,China)
出处
《机械设计与制造》
北大核心
2023年第11期156-159,共4页
Machinery Design & Manufacture
基金
2022年河南省科技攻关项目—基于区块链技术的群智感知节点智能选择机制研究(222102210288)。
关键词
群智感知算法
抓取机械臂
轨迹跟踪
动力学分析
轨迹规划
Crowd Sensing Algorithm
Grasping Robotic Arm
Trajectory Tracking
Dynamic Analysis
Trajectory Planning
