基于遗传优化算法的柔性机械臂抑振轨迹规划研究

娄军强1, 2,魏燕定3,李国平1, 2,杨依领3,彭文飞1, 2

振动与冲击 ›› 2016, Vol. 35 ›› Issue (11) : 1-6.

PDF(2120 KB)
PDF(2120 KB)
振动与冲击 ›› 2016, Vol. 35 ›› Issue (11) : 1-6.
论文

基于遗传优化算法的柔性机械臂抑振轨迹规划研究

  • 娄军强1, 2,魏燕定3,李国平1, 2,杨依领3,彭文飞1, 2
作者信息 +

Optimal Trajectory Planning of a flexible manipulator for Vibration Suppression using Genetic Algorithm

  • LOU Jun-qiang1,2, WEI Yan-ding3,LI Guo-ping1,2 ,YANG Yi-ling3, PENG Wen-fei1,2
Author information +
文章历史 +

摘要

为了抑制柔性臂的弹性振动,提出了一种结合遗传优化算法和多项式函数插值的抑振轨迹规划方法。基于假设模态法和Hamilton原理建立了柔性臂系统的动力学方程,揭示了抑振轨迹规划原理。在轨迹优化过程中,采用五次多项式函数构造运动轨迹控制点的基础位移值,以轨迹控制点的位移浮动值作为待优化变量,在满足初始和终止位置运动状态约束的前提下,基于遗传算法优化得到柔性臂振动能量最小的最优抑振轨迹。数值计算和实验结果验证了抑振轨迹规划方法的有效性。实验结果表明:与跟踪常规的五次多项式运动轨迹相比,柔性臂在跟踪最优抑振轨迹时的残余振动最大振幅减小了10倍左右,其衰减时间由12s缩短为4.5s,提高了柔性臂系统的定位控制精度,改善了系统的操作效率。

Abstract

In this paper, an optimal trajectory planning method of a flexible manipulator for vibration suppression is proposed, which is combined of genetic algorithm and polynomial functions interpolation. The dynamic equations of the manipulator are derived using the extended Hamilton’s principle and the assumed modes method. Then, the trajectory planning mechanism for vibration suppression is elaborated. For trajectory planning, the quintic polynomials are employed as basic functions to interpolate the discrete trajectory, and the floating values of the discrete joint angles are considered as optimal parameters to be determined. After applying the constraint conditions of the initial and final conditions, the optimal trajectory with minimum vibration energy is conducted using the genetic algorithm. Numerical calculations and experiments are performed to verify the applicability and effectiveness of the proposed trajectory planning method. Compared with the results tracking the quintic polynomials function, experimental results show that the amplitude of the residual link vibration tracking the optimal trajectory reduces about 10 times, and the damping time of the link reduced to 4.5s from 12s. Consequently, the position precision and operating efficiency of the system are improved.

关键词

柔性机械臂 / 轨迹规划 / 振动抑制 / 遗传算法

Key words

Flexible manipulator / Trajectory planning / Vibration suppression / Genetic algorithm

引用本文

导出引用
娄军强1, 2,魏燕定3,李国平1, 2,杨依领3,彭文飞1, 2. 基于遗传优化算法的柔性机械臂抑振轨迹规划研究[J]. 振动与冲击, 2016, 35(11): 1-6
LOU Jun-qiang1,2, WEI Yan-ding3,LI Guo-ping1,2,YANG Yi-ling3, PENG Wen-fei1,2. Optimal Trajectory Planning of a flexible manipulator for Vibration Suppression using Genetic Algorithm[J]. Journal of Vibration and Shock, 2016, 35(11): 1-6

参考文献

[1] 娄军强, 魏燕定, 杨依领, 等. 空间柔性机械臂弯扭耦合振动的主动控制研究[J]. 振动工程学报. 2014(03): 400-407.
Lou Junqiang, Wei Yanding, Yang Yiling, et al. Active control of bending torsion coupled vibration of a space flexible manipulator[J]. Journal of Vibration Engineering, 2014(03):400-407. (In Chinese)
[2] Choi S, Seong M, Ha S H. Accurate position control of a flexible arm using a piezoactuator associated with a hysteresis compensator[J]. Smart Materials and Structures. 2013, 22 (0450094).
[3] Abe A. Trajectory planning for flexible Cartesian robot manipulator by using artificial neural network: numerical simulation and experimental verification[J]. Robotica. 2011, 29(5): 797-804.
[4] Qiu Zhicheng, Wang Bin, Zhang Xianmin, et al. Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder[J]. Mechanical Systems and Signal Processing. 2013, 36(2): 290-316.
[5] Park K, Park Y. Fourier-based optimal-design of a flexible manipulator path to reduce residual vibration of the end-point[J]. Robotica. 1993, 11(3): 263-272.
[6] Abe A. Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation[J]. Mechanism and Machine Theory. 2009, 44(9): 1627-1639.
[7] Korayem M H, Nikoobin A, Azimirad V. Trajectory optimization of flexible link manipulators in point to point motion[J]. Robotica. 2009, 27: 825-840.
[8] 吴立成, 孙富春, 孙增圻, 等. 柔性空间机器人振动抑制轨迹规划算法[J]. 机器人. 2003(03): 250-254.
Wu Licheng, Sun Fuchun, Sun Zengqi, et al. Optimal trajectory planning of flexible space robot for vibration reducing[J]. Robot. 2003(03): 250-254. (In Chinese)
[9] 邵君奕,张传清,刘召,等. 考虑振动抑制的多冗余度特种操作机器人轨迹优化方法[J]. 机械工程学报. 2012(01): 13-18.
Shao Junyi, Zhang Chuanqing, Liu Zhao, et al. Trajectory optimization method of special operation  redundant robot for vibration suppression[J]. Journal of Mechanical Engineering. 2012(01): 13-18. (In Chinese)
[10] 徐文福,徐超,孟得山. 基于粒子群优化的刚柔混合机械臂振动抑制规划[J]. 控制与决策. 2014(04): 632-638.
Xu Wenfu, Xu Chao, Meng Deshan. Trajectory planning of vibration suppression for rigid flexible hybrid manipulator based on PSO algorithm[J]. Control and Decision. 2014(04): 632-638. (In Chinese)
[11] Chu Ming, Chen Gang, Jia Qingxuan, et al. Simultaneous positioning and non-minimum phase vibration suppression of slewing flexible-link manipulator using only joint actuator[J]. Journal of Vibration and Control. 2014, 20(10): 1488-1497.
[12] Springer K, Gattringer H, Staufer P. On time-optimal trajectory planning for a flexible link robot[J]. Journal of Systems and Control Engineering. 2013, 227(10): 752-763.
[13] 巩敦卫. 交互式遗传算法原理及其应用[M]. 北京: 国防工业出版社, 2007.
 
 

PDF(2120 KB)

Accesses

Citation

Detail

段落导航
相关文章

/