Trajectory Planning for Periodic Operation of Autonomous Excavating Robot Based on Time-Jerk Synthetic Optimum

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Zhu, Yaguang^1,2 ; Zhang, Liang^1 ; Guo, Wanjin^1 ; Chen, Zhengcang^1

Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'An University, Xi'an

710064, China^1

State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou

310028, China^2

关键词: Autonomous operations;    Construction machinery;    Hermite interpolation method;    Inequality constraint;    Kinematics analysis;    Objective functions;    Rapidity and stabilities;    Trajectory Planning;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012067/pdf
DOI  :  10.1088/1757-899X/428/1/012067

来源: IOP

【 摘 要 】

Considering the problem of trajectory planning of redundant degree of freedom in autonomous operation for excavating robot, a method of trajectory planning for periodic operation of autonomous excavating robot based on time-jerk synthetic optimum was proposed in this paper. Through a kinematic model establishment and forward/inverse kinematics analysis for working mechanism, the trajectory planning based on Hermite interpolation method was carried out. Taking the time-jerk as objective function, a mathematical model of nonlinear programming under the inequality constraints was established, and Genetic Algorithm was used to find out the globally optimal solution. The rapidity and stability of working process of excavating robot is effectively enhanced and it has an important significance to realize the intelligentization of construction machinery.