Research on trajectory planning of drill rig manipulator based on improved particle swarm optimization
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摘要: 钻车机械手是防突防冲钻车的重要装置，关系着钻车是否可以正常钻进及真正实现无人化。为确保钻车机械手快速、准确、平稳运行，其轨迹规划优化尤为重要。现有钻车机械手轨迹规划存在阶次较高、优化算法易早熟等问题。针对上述问题，提出了一种基于改进粒子群（PSO）算法的钻车机械手时间最优轨迹规划方法。首先，利用标准Denavit−Hartenberg（D−H）构建钻车机械手三维模型，通过蒙特卡洛法得到钻车机械手的工作空间，从工作空间中选取4个途径点作为插值点。然后，为了使钻车机械手能够快速平稳地到达指定位置，在关节空间中采用3−5−3分段多项式插值构造其轨迹。最后，通过改进PSO算法对构造的轨迹进行时间最短优化，得到钻车机械手的时间最优轨迹规划。Matlab仿真结果表明：基于改进PSO算法的钻车机械手时间最优轨迹规划方法可以在保证钻车机械手各关节运行平稳的同时，使运行时间从3.1685 s减少到2.3854 s，整体运行时间较优化前减少约25%，提高了机械手的工作效率。Abstract: The manipulator is an important device of anti-outburst and anti-impact drill rig, which is related to whether the drill rig can drill normally and truly realize unmanned operation. In order to ensure the rapid, accurate and stable operation of the drill rig manipulator, the trajectory planning optimization is particularly important. There are some problems in the existing trajectory planning of drill rig manipulator, such as higher order, prematurity of optimization algorithm and so on. In order to solve the above problems, a time optimal trajectory planning method of drill rig manipulator based on improved particle swarm optimization ( PSO) algorithm is proposed. Firstly, the 3D model of the drill rig manipulator is constructed by using the standard Denavit-Hartenberg ( D-H), and the workspace of the manipulator is obtained by Monte Carlo method, and four path points are selected as interpolation points from the workspace. Secondly, in order to make the manipulator reach the specified position quickly and smoothly, the trajectory of the manipulator is constructed by using 3-5-3 piecewise polynomial interpolation in the joint space. Finally, by the improved PSO algorithm, the constructed trajectory is optimized in the shortest time, and the optimal trajectory planning of the drill rig manipulator is obtained. The Matlab simulation results show that the time optimal trajectory planning method of the drill rig manipulator based on improved PSO algorithm can not only ensure the smooth operation of each joint of the drill rig manipulator, but also reduce the running time from 3.168 5 s to 2.385 4 s, reduce the overall running time by about 25% compared with that before optimization, and improve the efficiency of the manipulator.
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图 1 钻车机械手整体结构
1−回转器；2−机械手摆动油缸；3−托板；4−机械手伸缩油缸；5−机械手爪；6−仰角检测接近开关；7−俯角检测接近开关；8−机械手竖直回转减速器；9−导轨竖直回转减速器；10−夹持器。
Figure 1. Overall structure of drill rig manipulator
图 5 3−5−3样条插值机械手关节位置曲线
Figure 5. Joint position curves of manipulator based on 3-5-3 spline interpolation
图 7 3−5−3样条插值机械手关节加速度曲线
Figure 7. Joint acceleration curves of manipulator based on 3-5-3 spline interpolation
图 6 3−5−3样条插值机械手关节速度曲线
Figure 6. Joint velocity curves of manipulator based on 3-5-3 spline interpolation
表 1 机械手D-H参数
Table 1. D−H parameters of manipulator
关节 θf /(°) df /mm af /mm αf /(°) 关节变量范围/（°） 1 θ1 267 0 0 [−127.5,127.5] 2 θ2 702 0 −90 [0,60] 
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表 2 笛卡尔空间路径
Table 2. Cartesian space path
mm 抓杆点 路径点1 路径点2 放杆点 (0,704,267) (−277,653,267) (−460,548,267) (−657,−328,267)
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表 3 关节空间的角度插值点
Table 3. Angle interpolation points in joint space
关节位置 关节1 关节2 β0 0 0 β1 0.4012 0 β2 0.6978 0 β3 2.0410 0
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表 4 各关节优化结果
Table 4. Optimization results of each joint
s 关节 运行时间 tj1 tj2 tj3 关节1 0.6487 0.3919 1.3448 关节2 0 0 0
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