吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (2): 540-546.doi: 10.13229/j.cnki.jdxbgxb201502030

• Orignal Article • Previous Articles     Next Articles

NURBS-based time-optimal trajectory planning on robotic excavators

GUAN Cheng, WANG Fei, ZHANG Deng-yu   

  1. Institute of Mechanical Design, Zhejiang University, Hangzhou 310027, China
  • Received:2013-06-17 Online:2015-04-01 Published:2015-04-01

Abstract: In order to improve the efficiency of the robotic excavator meanwhile to obtain its smooth running trajectory, a new trajectory planning method based on Non-uniform Rational Basis Spline (NURBS) was proposed. A quintic NURBS curve was employed to interpolate joint positions of the robotic excavator. Using the vector-valued function, by Leibniz formula, higher order derivative vector of NURBS curve was obtained to set the start and stop speeds and accelerations; and to make up the trajectory curves with continuous jerk, which passes specified joint positions. The effect of NURBS weight factor in sectional trajectory planning was analyzed. Nonlinear minimization problems under constraints were solved using sequential quadratic programming; then time-optimal trajectories were planned. Simulation and experiment results show that the proposed trajectory planning method can provide time-optimal trajectories, which satisfy kinematic constraints and the sectional trajectory optimization is effective.

Key words: automitic control technology, robotic excavator, trajectory planning, sequential quadratic programming

CLC Number: 

  • TP242.6
[1] 冯培恩,孙守迁,杨毅,等.采掘机器人的规划级控制技术研究[J].自动化学报,1995,21(1):33-38.
Feng Pei-en, Sun Shou-qian, Yang Yi, et al. Research on the technique of planning level control for excavating-robot[J]. Acta Automatica Sinica, 1995,21(1):33-38.
[2] 王昕,赵丁选,尚涛,等.基于单神经元的液压挖掘机自适应PID节能控制[J].吉林大学学报:工学版,2005,35(4):377-380.
Wang Xin, Zhao Ding-xuan, Shang Tao, et al. Adaptive PID control for energy-saving of hydraulic excavator based on single neuron[J].Joumal of Jilin University(Engineering and Technology Edition), 2005, 35(4):377-380.
[3] 徐海黎,解祥荣,庄健,等.工业机器人的最优时间与最优能量轨迹规划[J].机械工程学报,2010,46(9):19-25.
Xu Hai-li, Xie Xiang-rong, Zhuang Jian, et al. Global time-energy optimal planning of industrial robot trajectories[J]. Journal of Mechanical Engineering, 2010,46(9):19-25.
[4] 张大庆,何清华,郝鹏,等.液压挖掘机铲斗的轨迹跟踪控制[J].吉林大学学报:工学版,2005,35(5):490-494.
Zhang Da-qing, He Qing-hua, Hao Peng, et a1. Trajector tracking control of hydraulic excavator bucket[J]. Joumal of Jilin University(Engineering and Technology Edition), 2005, 35(5):490-494.
[5] 朱世强,刘松国,王宣银,等.机械手时间最优脉动连续轨迹规划算法[J].机械工程学报,2010,46(3):47-52.
Zhu Shi-qiang, Liu Song-guo, Wang Xuan-yin, et al. Time-optimal and jerk-continuous trajectory planning algorithm for manipulators[J]. Journal of Mechanical Engineering, 2010,46(3):47-52.
[6] 刘宇,刘春时,张义民.基于NURBS的挖掘机自主控制铲斗轨迹规划方法[J].中国工程机械学报,2012,10(2):145-149.
Liu Yu, Liu Chun-shi, Zhang Yi-min. NURBS-based autonomously-controlled bucket trajectory planning on robotic excavators[J]. Chinese Journal of Construction Machinery, 2012,10(2):145-149.
[7] Kim D, Kim J, Lee K, et al. Excavator tele-operation system using a human arm[J]. Automation in Construction,2009,18(2): 173-182.
[8] Lee S U, Chang P H. Control of a heavy-duty robotic excavator using time delay control with integral sliding surface[J]. Control Engineering Practice, 2002,10(7): 697-711.
[9] Gu J, Seward D. Digital servo control of a robotic excavator[J]. Chinese Journal of Mechanical Engineering, 2009,22(2):190-197.
[10] Saravanan R, Ramabalan S, Balamurugan C. Multiobjective trajectory planner for industrial robots with payload constraints[J]. Robotica,2008, 26 (6):753-765.
[11] 梁宏斌,王永章,李霞.自动调节进给速度的NURBS插补算法的研究与实现[J].计算机集成制造系统,2006,12(3):428-433.
Liang Hong-bin, Wang Yong-zhang, Li Xia. Research and implementation of NURBS interpolation algorithm for adaptive feed speed[J]. Computer Integrated Manufacturing Systems, 2006, 12(3): 428-433.
[12] 玄冠涛,邵园园,吕钊钦,等.基于NURBS的空间分度凸轮廓面重构与仿真[J].农业机械学报,2012,43(6):226-234.
Xuan Guan-tao, Shao Yuan-yuan, Lü Zhao-qin, et al. Profile reconstruction of spatial indexing cam and simulation based on NURBS[J]. Transactions of the Chinese Society for Agricultural Machinery, 2012,43(6):226-234.
[1] ZHANG Lin, ZHANG Xin-jie, GUO Kong-hui, WANG Chao, LIU Yang, LIU Tao. Rolling window optimization for intelligent vehicle trajectory planning in unknown environment [J]. 吉林大学学报(工学版), 2018, 48(3): 652-660.
[2] QU Xing-tian, YAN Long-wei, SUN Hui-chao, ZHOU Wei, LI Guang-hui. Structure analysis of 3D printer device of reversible working platform [J]. 吉林大学学报(工学版), 2017, 47(5): 1489-1497.
[3] CAO Fu-cheng, XING Xiao-xue, LI Yuan-chun, ZHAO Xi-lu. Adaptive trajectory sliding mode impedance control for lower limb rehabilitation robot [J]. 吉林大学学报(工学版), 2016, 46(5): 1602-1608.
[4] MIAO Dong-jing,WU Liao,XU Jing,CHEN Ken,XIE Ying,LIU Zhi. Automatic spraying robot system for aircraft surfaces and spraying operation planning [J]. 吉林大学学报(工学版), 2015, 45(2): 547-553.
[5] SUN Hao, DENG Wei-wen, ZHANG Su-min, WU Meng-xun. Micro vehicle dynamic trajectory plan with global optimality [J]. 吉林大学学报(工学版), 2014, 44(4): 918-924.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!