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多关节凿岩机械手在工作时 ,完成的是一个在一定工作面上随机的钻孔孔序任务 ,其孔序规划相当复杂 .作者运用遗传算法规划其钻孔任务序列 ,通过判断多关节钻臂上每 1个关节的运动方向在彼此相邻的 3个钻孔位置上的变化趋势 ,用数值 0表示某一关节运动方向变化趋势在相邻 3个钻孔上不一致 ,数值 1表示一致 ,并根据具体工作情况对描述值进行修正 .在此基础上设计了一个基于关节水平来规划凿岩机械手随机钻孔孔序的适应度函数 ,从而使整个钻孔孔序规划算法简单 ,收敛速度快 ,能寻求较优的钻孔孔序 .此方法对于完成其他类型的关节型机械手的钻孔任务和轨迹规划也具有借鉴意义
Multi-joint rock drilling robot at work, completed is a random hole drilling tasks on a certain face, the hole sequence planning is quite complicated. The author uses genetic algorithm to plan the drilling sequence, by judging the multi-joint drill arm On each joint movement direction of the three drilling positions adjacent to each other on the trend of change with a value of 0 that a joint movement direction of the change in the adjacent 3 borehole inconsistencies, the value of 1 that consistent, and According to the specific work conditions to modify the description value.On this basis, a fitness function is designed based on the joint level to plan the random drilling hole sequence of rock drilling robot, so that the whole drilling sequence planning algorithm is simple, the convergence speed is fast, Can find better drilling hole sequence.This method is also of reference for drilling tasks and trajectory planning of other types of articulated robots