冗余度机器人作业区域轨迹的自动规划

机器人化是提高工程机械施工控制自动化的关键问题。对于工程机械机器人 ,特别是具有空间冗余度的工程机械机器人 ,其执行机构末端的轨迹规划的自动实现研究对提高其自动化程度有着重要意义。本文以泵车为例 ,提出了一种泵车布料机构的浇筑过程的自动轨迹规划算法 ,该算法通过将其所浇筑区域离散成浇筑点集 ,对两浇筑点的轨迹利用冗余度机器人学的最小关节范数法 ,并通过在关节速度和加速度非连续之处采用平滑或连续处理 ,从而实现了泵车布料机构浇筑过程的自动轨迹规划。

Robotization is a significant measure to improve automation of construction machines. It is very important to study the automatic trajectory planning of their end  effectors of construction robots, especially those with redundant degrees of freedom, to improve their automation. Taking the concrete pump car as an example,an algorithm for automatic trajectory planning is proposed.By dispersion to a concrete  placed area, and the trajectory planning to each segment using the minimal joint module method, and by automatic connection and automatic adjustment to every two segments, the algorithm realizes the automatic trajectory planning of concrete pump car.