Research of Trajectory Planning for Autonomously Excavating Robot Based on Time-Jerk Synthetic Optimum
Considering the implementation of the autonomous mining problem for excavating robot, a method of trajectory planning for autonomously excavating robot based on time-jerk synthetic optimum is proposed in this paper.Through establishing a kinematic model and forward/inverse kinematics analysis for working mechanism,the actual movement space of the bucket tip is drawn by the Monte Carlo method.On this basis, the trajectory planning based on Hermite interpolation method was carried out.Taking the time-jerk as objective function, a mathematics model of nonlinear programming under the inequality constraints is established, and Genetic Algorithm is used to find out the globally optimal solution.
robotic excavator forward/inverse kinematics workspace time-jerk trajectory planning
Zhu Yaguang Guo Lei Wu Yongping
Key Laboratory of Road Construction Technology and Equipment, Ministry of Education,Changan University, Xian 710064, China
国际会议
西安
英文
448-451
2015-09-18（万方平台首次上网日期，不代表论文的发表时间）