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提出了一种以ISIGHT为平台的工业码垛机器人轨迹优化设计方法。用D-H法建立运动学正、逆解模型,并建立含有时间、角速度变量的轨迹规划方程。在此基础上,提出在特定轨迹目标的运动规律下,以码垛机器人关节角速度的峰值最小作为优化目标,构造了有约束的多目标优化问题,并用ISIGHT优化实例得到最优解集。优化结果表明,码垛机器人在目标轨迹上的角加速度曲线明显改善,关节2角加速度峰值分别下降41.17%和54.26%,证明了该优化设计方法合理、有效。
An optimization design method of industrial palletizing robots based on ISIGHT is proposed. The D-H method is used to establish positive and inverse kinematics models and a trajectory planning equation with time and angular velocity variables is established. Based on this, aiming at the optimization goal of the minimum joint angular velocity of palletizing robot under the movement law of a specific trajectory target, a constrained multi-objective optimization problem is constructed and the optimal solution set is obtained by using ISIGHT optimization examples. The optimization results show that the acceleration curve of the palletizing robot on the target trajectory is significantly improved, and the peak acceleration of the two joints is decreased by 41.17% and 54.26% respectively, which proves that the optimization design method is reasonable and effective.