Optimal Assembly Position and Multi-objective Trajectory Optimization for Dual Robotic Arms Collaboration

Wang Tianrui; Tao Ping

doi:10.16578/j.issn.1004.2539.2024.01.006

您当前的位置：

首页 >

文章列表页 >

Optimal Assembly Position and Multi-objective Trajectory Optimization for Dual Robotic Arms Collaboration

Theory·Research | 更新时间：2024-12-13

- Optimal Assembly Position and Multi-objective Trajectory Optimization for Dual Robotic Arms Collaboration
- Journal of Mechanical Transmission Vol. 48, Issue 1, Pages: 39-45(2024)
- 作者机构：
  
  1.武汉科技大学冶金装备及其控制教育部重点实验室，湖北武汉 430081
  2.武汉科技大学机械传动与制造工程湖北省重点实验室，湖北武汉 430081
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.01.006
  CLC：
- Published：15 January 2024，
  
  Received：14 October 2022，
  
  Revised：04 January 2023，
- 稿件说明：
移动端阅览
王天瑞,陶平.双机械臂协作最优装配位置及多目标轨迹优化[J].机械传动,2024,48(01):39-45.

Wang Tianrui,Tao Ping.Optimal Assembly Position and Multi-objective Trajectory Optimization for Dual Robotic Arms Collaboration[J].Journal of Mechanical Transmission,2024,48(01):39-45.
王天瑞,陶平.双机械臂协作最优装配位置及多目标轨迹优化[J].机械传动,2024,48(01):39-45. DOI： 10.16578/j.issn.1004.2539.2024.01.006.

Wang Tianrui,Tao Ping.Optimal Assembly Position and Multi-objective Trajectory Optimization for Dual Robotic Arms Collaboration[J].Journal of Mechanical Transmission,2024,48(01):39-45. DOI： 10.16578/j.issn.1004.2539.2024.01.006.

摘要

为了解决以传统人工示教方式确定双机械臂协作装配位置的局限性和随机性，以双机械臂轴孔协调装配为工程背景，针对协作装配过程中机械臂的整体运动灵活性和轨迹规划，采用粒子群算法进行多次寻优，求解整体全局灵活性最优的装配位置，并基于最优位置进行了多目标轨迹优化。分析了双机械臂协调装配过程中的运动约束关系，以可操作度为灵活性评价指标，提出了双机械臂协作装配系统的可操作度评价方法，以此构建优化目标函数，采用粒子群算法，在双机械臂协作空间中求取系统全局可操作度最优的装配位置；基于灵活性最优位置，采用多目标粒子群算法，以时间、能耗、冲击为目标进行了轨迹优化，并在Matlab机器人仿真平台进行了仿真分析。结果表明，将灵活性指标运用到轨迹规划中，能提高机械臂作业效率，降低能耗与冲击损耗；且整个运动过程可维持较高可操作度，能有效规避传统人工示教方式的随机性，实现双机械臂协作装配的最优灵活性轨迹规划。

Abstract

In order to solve the limitation and randomness in determining the collaborative assembly position of dual robotic arms by the traditional manual demonstration method

and taking the coordinated assembly of dual robotic arms axle holes as the engineering background

this study uses the particle swarm algorithm to perform multiple searches for the optimal assembly position for the overall global flexibility in the collaborative assembly process and carries out multi-objective trajectory optimization based on the optimal position

with respect to the overall motion flexibility and trajectory planning of the robotic arm. Firstly

the motion constraint relationship in the coordinated assembly process of double robotic arms is analyzed

the operability degree is used as the flexibility evaluation index

the operability evaluation method of dual robotic arms collaborative assembly system is proposed

the optimization objective function is constructed

and the particle swarm algorithm is used to find the assembly position with the optimal global operability degree of the system in the collaborative space of double robotic arms. Finally

based on the optimal position of flexibility

the multi-objective particle swarm algorithm is used to optimize the trajectory with the objectives of time

energy consumption and impact; by performing simulation analysis in the Matlab robot simulation platform

the results show that

by applying the flexibility index to the trajectory planning

it can improve the operation efficiency of the robotic arm

while reducing energy consumption and impact loss

and maintain a high degree of operability during the whole motion process

effectively avoiding the randomness of the traditional manual teaching method

thus realizing the optimal flexible trajectory planning for collaborative assembly of dual robotic arms.

关键词

轴孔协作装配最优装配位置可操作度轨迹优化

Keywords

Collaborative assembly of bores and shaftsOptimal assembly positionOperabilityTrajectory optimization

references

KLEIN C A，BLAHO B E.Dexterity measures for the design and control of kinematically redundant manipulators［J］.International Journal of Robotics Research，1987，6（2）：72-83.

YOSHIKAWA T.Manipulability of robotics mechanisms［J］.International Journal of Robotics Research，1985，4（2）：3-9.

谢碧云，赵京.基于条件数约束的方向可操作度［J］.机械工程学报，2010，46（23）：8-15.

XIE Biyun，ZHAO Jing.Directional operability based on condition number constraints［J］.Journal of Mechanical Engineering，2010，46（23）：8-15.

KIM J，KHOSLA K.Dexterity measures for design and control of manipulators［C］//IEEE/RSJ International Workshop on Intelligent Robot and Systems，November 3-5，1991，New York，United States.New York：IEEE，1991：758-763.

李宪华，孙青，张雷刚，等.服务机器人双臂协调操作的灵活性分析［J］.华中科技大学学报（自然科学版），2019，47（5）：33-38.

LI Xianhua，SUN Qing，ZHANG Leigang，et al.Flexibility analysis of coordinated operation of service robot with two arms［J］.Journal of Huazhong University of Science and Technology （Natural Science Edition），2019，47（5）：33-38.

孙青.服务机器人6R双臂的运动学与协调操作研究［D］.淮南：安徽理工大学，2019：41-55.

SUN Qing.Research on the kinematics and coordinated operation of service robot 6R double arms［D］.Huainan： Anhui University of Technology，2019：41-55.

李宪华，孙青，张雷刚，等.基于SVD可操作度指标的机械臂灵活性分析［J］.制造技术与机床，2019（4）：29-34.

LI Xianhua，SUN Qing，ZHANG Leigang，et al.Analysis of robot arm flexibility based on SVD operability index［J］.Manufacturing Technology and Machine Tool，2019（4）：29-34.

符晓，谭月胜.6R机器人工作空间奇异点的可视化研究［J］.林业机械与木工设备，2017，45（4）：32-35.

FU Xiao，TAN Yuesheng.Visualization of singularities in the workspace of 6R robot［J］.Forestry Machinery and Woodworking Equipment，2017，45（4）：32-35.

张玉强，赖惠鸽.基于运动性能分析的双臂冗余度机器人协调运动研究［J］.智能系统学报，2020，15（5）：856-863.

ZHANG Yuqiang，LAI Huige.Research on coordinated motion of two-arm redundancy degree robot based on motion performance analysis［J］.CAAI Transactions on Intelligent Systems，2020，15（5）：856-863.

潘建龙，甘亚辉，陈明，等.多机器人协作焊接系统初始焊接位置选取及最优轨迹规划［C］//第36届中国控制会议论文集（E）.大连：出版者不详，2017：193-199.

PAN Jianlong，GAN Yahui，CHEN Ming，et al.Initial welding position selection and optimal trajectory planning for multi-robot collaborative welding systems［C］//Proceedings of the 36th China Control Conference（E）.Dalian：［s.n.］，2017：193-199.

刘毅.6R型工业机器人装配操作轨迹与运动规划研究［D］.大连：大连理工大学，2018：72-75.

LIU Yi.Research on the trajectory and motion planning of 6R-type industrial robot assembly operation［D］.Dalian：Dalian University of Technology，2018：72-75.

朱良麒.基于多机器人协作的微电机装配关键技术研究［D］.南京：南京航空航天大学，2020：32-44.

ZHU Liangqi.Research on the key technology of micro-motor assembly based on multi-robot collaboration［D］.Nanjing：Nanjing University of Aeronautics and Astronautics，2020：32-44.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kinematics Analysis and Trajectory Optimization of the Hybrid Welding Robot

Design and Trajectory Optimization of Traffic Cone Recovery Manipulator based on Groove Cam Joint

Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO

Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot

Trajectory Planning of Three Dimensional Feeding Manipulator based on B Spline and Multi-objective Genetic Algorithm

Related Author

Zhang Kechen

Tian Junwei

Ban Caixia

Cai Ganwei

Lü Antao

Xiangyuan Hu

Hairong Guo

Yushan Li

Related Institution

School of Mechanical Engineering, Guangxi University

School of Civil Engineering and Architecture, Guangxi University

School of Construction Machinery, Hunan Sany Polytechnic College

College of Transportation， Shandong University of Science and Technology

Shandong Transportation Institute， Ji'nan

⁰