为了解决机器人将农产品从收获场所转移到仓库或运输车辆存在的移动轨迹和作业轨迹相对独立且耗时长的问题,本文设计一种物料移运机器人,并提出一种物料移运机器人协同作业时间最优轨迹规划方法,获得机器人作业系统和行驶系统协同作业的时间最优轨迹.该方法建立机器人协同作业的运动学模型和动力学模型,对物料移运机器人开展时间最优轨迹规划,并基于Lyapunov理论设计控制律减少跟踪误差,最后通过Matlab/Simulink和ADAMS联合仿真验证方法的有效性.结果表明,提出的轨迹规划方法可使机器人在抓放料协同作业和避障协同作业中取得平滑且时间最优的运动轨迹,机器人各关节的位移、速度、加速度、力/力矩曲线变化平缓,两履带牵引力满足机器人的要求且可快速稳定跟踪时间最优路径.
To address the issues of high labor intensity andlow work efficiency for the transfer of agricultural products from harvesting place to warehouse or transportation vehicle in the agricultural field,a material handling robot was designed,which enabled the robot to perform tasks such as grabbing,transporting,and placing materials.Aiming at the problem that the moving track and the working track were relatively independent and time-consuming when the material handling robot moved and grabed simultaneously,a time-optimal trajectory planning methodology for the cooperative working of the designed material handling robot was proposed,which can obtain the time-optimal trajectory for the simultaneous performance of the robot driving and grasping operation.This methodology was used to conduct the time-optimal trajectory planning for the material handling robot,which allowed to take into account the robot's kinematic and dynamic constraints of both the operation system and the driving system.Additionally,a control law was designed based on Lyapunov theory to reduce the error for the robot's path tracking and improve the accuracy and stability of the robot's trajectory tracking.Finally,the effectiveness of the time-optimal trajectory planning method for collaborative operation was verified through joint simulation by the co-simulation in Matlab/Simulink and ADAMS.The results showed that the proposed methodology can enable the robot to obtain a smooth and time-optimal motion trajectory during the material handling process,the displacement,velocity,acceleration,and force/torque of the operation system,and the tractive force curves of each joint of the robot changed gently,and the two-track tractive force met the requirements of the robot which can quickly and stably track the time-optimal path.The designed material handling robot and the proposed time-optimal trajectory planning methodology can provide an effective technical solution for the transfer of agricultural products in the agricultural field.
郭万金;李儒;郝钦磊;曹雏清;赵立军
长安大学道路施工技术与装备教育部重点实验室,西安 710064芜湖哈特机器人产业技术研究有限公司博士后工作站,芜湖 241007||长三角哈特机器人产业技术研究院,芜湖 241007长三角哈特机器人产业技术研究院,芜湖 241007||哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨 150001
计算机与自动化
物料移运机器人;轨迹规划;时间最优;协同作业;A*算法
material handling robot;trajectory planning;time optimization;cooperative working;A* algorithm
《农业机械学报》 2024 (001)
22-38 / 17
国家自然科学基金面上项目(52275005)、中央高校基本科研业务费专项资金项目(300102253201)、长安大学高等教育教学改革研究项目(JY202354)、安徽省博士后研究人员科研活动经费项目(2023B675)、中国博士后科学基金项目(2022M722435)、安徽省教育厅科学研究重点项目(KJ2020A0364)和高校优秀青年人才支持计划项目(2019YQQ023)
10.6041/j.issn.1000-1298.2024.01.002
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