Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization

Li Chengxiang; Yang Zhijun; Cai Tiegen

doi:10.16578/j.issn.1004.2539.2016.09.006

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Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization

更新时间：2022-10-20

- Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization
- Vol. 40, Issue 9, Pages: 28-31(2016)
- 作者机构：
  
  1. 广东工业大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.09.006
  CLC：
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[1]李成祥,杨志军,蔡铁根.基于ADAMS仿真优化的搬运机器人运动规划[J].机械传动,2016,40(09):28-31+37.

Li Chengxiang, Yang Zhijun, Cai Tiegen. Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization. [J]. 40(9):28-31(2016)
[1]李成祥,杨志军,蔡铁根.基于ADAMS仿真优化的搬运机器人运动规划[J].机械传动,2016,40(09):28-31+37. DOI： 10.16578/j.issn.1004.2539.2016.09.006.

Li Chengxiang, Yang Zhijun, Cai Tiegen. Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization. [J]. 40(9):28-31(2016) DOI： 10.16578/j.issn.1004.2539.2016.09.006.

摘要

对于频繁启停,高速高加速运动的搬运机器人,其柔性执行末端的残余振动会影响其运动定位精度。现在多通过主动、被动控制方法和单纯考虑运动曲线光滑性的方法对振动进行抑制,但会产生时滞性、控制复杂和受成本材料限制等问题。通过ADAMS进行运动学仿真优化,对比了不同运动曲线对运动定位精度的影响,并对S曲线参数进行优化,将优化获得的非对称S曲线作为运动曲线,实现机器人运动快速平稳。从动力学角度为搬运机器人的运动规划提供了思路。

Abstract

The residual vibration caused by flexible end-effector decreases the positioning accuracy,for transfer robots run with high speed and high acceleration,stop and start frequently. The active and passive control methods and the method of only considering motion curve smoothness are used to reduce vibration,but it has the problems such as time lag,control complexity and material cost limit. The motion of robot is simulated in dynamics method with ADAMS software,the influences of different motion curves on the motion positioning precision are compared and the parameters of S-curve are optimized. The optimized asymmetric motion curve is used to be motion curve to get robot move fast and smoothly. A motion planning method for transfer robot based on dynamics is proposed.

关键词

残余振动Adams仿真优化运动规划

Keywords

Residual vibrationAdamsSimulation optimizationMotion planning

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