CAJ | 학술논문

针对一种排爆机械手的轨迹规划问题，提出了一种时间脉动能量最优策略优化其运动轨迹，以减小机械手的运动时间、关节脉动和消耗能量。采用改进三次样条曲线连接路径点，保证关节始末速度、加速度可任意指定，在各关节运动约束条件下采用遗传算法对路径点之间的运动时间进行搜索优化。仿真结果表明：优化后的运动轨迹十分平滑，可以避免关节速度、加速度的突然变化，控制振动。与时间最优规化结果对比表明：该优化方法可以有效地减小关节运动的平均速度、加速度和脉动。
침대일충배폭궤계수적궤적규화문제，제출료일충시간맥동능량최우책략우화기운동궤적，이감소궤계수적운동시간、관절맥동화소모능량。채용개진삼차양조곡선련접로경점，보증관절시말속도、가속도가임의지정，재각관절운동약속조건하채용유전산법대로경점지간적운동시간진행수색우화。방진결과표명：우화후적운동궤적십분평활，가이피면관절속도、가속도적돌연변화，공제진동。여시간최우규화결과대비표명：해우화방법가이유효지감소관절운동적평균속도、가속도화맥동。
A time-jerk-energy optimal trajectory planning strategy is proposed for the explosive ordnance disposal manipulator to reduce the execution time,jerk and energy of the mechanical arm.Every pair of consecutive via-points are connected through improved cubic spines to ensure the arbitrary initial veloci-ties and accelerations.Genetic algorithm is used to search for the best time interval under the kinematic constraints of joints.The simulation results prove that the technique can keep joint moving smooth and a-void sharp change of velocity and acceleration,and the vibration may be reduced.Compared with the time optimal method,the proposed technology can minish the mean velocity,acceleration and jerk.