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对自由漂浮柔性冗余机械臂系统的减振运动规划问题进行研究。首先,采用拉格朗日方法建立系统的动力学模型,并给出了减振运动规划的模型。其次,提出一种基于高斯伪谱法与直接打靶法的混合规划策略,用于求解运动规划问题。先利用高斯伪谱法将运动规划问题转化为一个非线性参数优化问题,并用遗传算法确定近似解,随后利用直接打靶法建立优化模型,将得到的近似解作为优化变量的初值,并采用序列二次规划算法求得精确解。最后,对算例进行分析,验证了基于混合规划策略得到的关节运动轨迹能够明显减小柔性臂杆的全局振动以及残余振动。数值计算的结果表明该方法对减振运动规划问题的求解是有效且稳定的。
The problem of vibration control planning of free floating flexible redundant manipulator system is studied. First, the dynamic model of the system is established by Lagrange method and the model of vibration reduction motion planning is given. Secondly, a hybrid planning strategy based on Gaussian pseudospectral method and direct shooting method is proposed to solve the motion planning problem. Firstly, the problem of motion programming is transformed into a nonlinear parameter optimization problem by using Gaussian pseudospectral method, and the approximate solution is determined by genetic algorithm. Then, the direct shooting method is used to establish the optimization model, and the approximate solution is obtained as the initial value of the optimization variable. Quadratic programming algorithm to find the exact solution. Finally, the example is analyzed to verify that the joint motion trajectory obtained based on the hybrid programming strategy can significantly reduce the global vibration and residual vibration of the flexible arm. The numerical results show that this method is effective and stable for the solution of vibration control planning problem.