CAJ | 학술논문

提出了一种以ISIGHT为平台的工业码垛机器人轨迹优化设计方法。用D-H法建立运动学正、逆解模型，并建立含有时间、角速度变量的轨迹规划方程。在此基础上，提出在特定轨迹目标的运动规律下，以码垛机器人关节角速度的峰值最小作为优化目标，构造了有约束的多目标优化问题，并用ISIGHT优化实例得到最优解集。优化结果表明，码垛机器人在目标轨迹上的角加速度曲线明显改善，关节2角加速度峰值分别下降41.17%和54.26%，证明了该优化设计方法合理、有效。
제출료일충이ISIGHT위평태적공업마타궤기인궤적우화설계방법。용D-H법건립운동학정、역해모형，병건립함유시간、각속도변량적궤적규화방정。재차기출상，제출재특정궤적목표적운동규률하，이마타궤기인관절각속도적봉치최소작위우화목표，구조료유약속적다목표우화문제，병용ISIGHT우화실례득도최우해집。우화결과표명，마타궤기인재목표궤적상적각가속도곡선명현개선，관절2각가속도봉치분별하강41.17%화54.26%，증명료해우화설계방법합리、유효。
An approach was for the trajectory optimal design of industrial palletizing robot based on ISIGHT. On the basis of forward and inverse kinematics model by D-H method,path planning equation con-tained time and angular velocity variables was constructed. Based on this, at the target of particular track movement, peak palletizing robot joint angular velocity of the minimum as the optimization target, a multi-objective optimization under certain constraining condition constructed. Pareto front were obtained with ISIGHT. The results show that palletizing robot angular acceleration curve on the target trajectory signifi-cantly improved, the angular acceleration peak of link 2 were decreased 41. 17% and 54. 26%, respective-ly, which show that the optimal design method is reasonable and effective.