Trajectory optimization of an electro-hydraulic robot
- PDF / 2,562,689 Bytes
- 14 Pages / 595.22 x 842 pts (A4) Page_size
- 31 Downloads / 236 Views
DOI 10.1007/s12206-020-0919-4
Journal of Mechanical Science and Technology 34 (10) 2020 Original Article DOI 10.1007/s12206-020-0919-4 Keywords: · Electro-hydraulic robot · Multi-objective · Time-energy-jerk · Trajectory planning
Correspondence to: Guangzhu Chen [email protected]
Citation: Peng, X., Chen, G., Tang, Y., Miao, C., Li, Y. (2020). Trajectory optimization of an electro-hydraulic robot. Journal of Mechanical Science and Technology 34 (10) (2020) 4281~4294. http://doi.org/10.1007/s12206-020-0919-4
Received September 24th, 2019 Revised
March 8th, 2020
Trajectory optimization of an electrohydraulic robot Xueju Peng1, Guangzhu Chen2, Yingjie Tang1, Changwei Miao1 and Yang Li1 1
College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, 2 Chengdu 610059, China, College of Information Science and Technology, Chengdu University of Technology, Chengdu 610059, China
Abstract
The electro-hydraulic robot has great driving torque and plays an irreplaceable role in manufacturing. In this paper, a trajectory planning method for a 6-DOF electro-hydraulic robot based on time-energy-jerk is proposed and realized. A multi-objective function of the electro-hydraulic robot about working efficiency, impact, stability and energy consumption factors was built, at the same time, the kinematic and dynamic constraint functions were also built. The multi-objective trajectory function of the robot was optimized by using the nondominated neighborhood immune genetic algorithm, and the optimal position, velocity, acceleration and jerk planning curves of each joint were obtained. In the experiment, the flow output curves of the hydraulic system of joint 6 based on fuzzy-PID control strategy under noload, 1.5 kg load, 4 kg load were obtained, and show that the velocity and position trajectory of the joint can be well controlled using the presented fuzzy PID control strategy.
Accepted July 30th, 2020 † Recommended by Editor Ja Choon Koo
© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020
1. Introduction Trajectory planning is the basis of the robotic motion research field. It is very important to assure the efficiency, motion stability and task requirements of a robot in trajectory process. The purpose of trajectory planning is to generate the reference input of a control system to ensure the robot moves along the planned trajectory [1]. Generally, the trajectory planning space of the robot is divided into the Cartesian space and the joint space, but there are many difficult problems of trajectory planning in the Cartesian space. Some points in the planned path by Cartesian space may exceed the work-space of the robot and result in the failure of the expected path points. When the robot is located at a singular position, the velocity of the joint corresponding to the operating velocity may be infinite, but the velocity of the joint has an allowable range, which will result in the deviation of the end effector of the robot from the expected tr
Data Loading...
