Movement flexibility comprehensive evaluation and optimization method of redundant robot

Abstract

The invention discloses a tow placement robot with a redundant joint. The spinor theory is used for establishing the kinematic jacobian matrix of the robot; for comprehensively evaluating the flexibility index of the robot, three indexes of the condition number, the manipulability and the minimum singular value are modelled as three target functions after being changed, and the target functions are optimized through the adoption of an improved multi-target genetic algorithm and the introduction of Pareto efficiency; performing the data analysis on the optimized Pareto first front-end optimal solution set, describing the relation among the indexes using related coefficients, when finding the performance optimization on the tow placement robot, necessarily considering the mutual relation of the indexes, and finally acquiring the tow placement robot working space region with the optimal comprehensive performance. The simulation result proves that the operation of performing the genetic algorithm optimization and application of the multi-target using the Pareto efficiency is reliable and efficient, and lays the foundation for the next step test research of the tow placement robot; and meanwhile, the operation provides good reference value for the movement flexibility performance analysis and optimization of other serial robots.

Description

Technical field [0001] The invention relates to the field of optimization methods for redundant robots, in particular to a method for comprehensive evaluation and optimization of redundant robot movement flexibility. Background technique [0002] For a robot with a certain configuration, its flexibility will directly affect whether the specific operation task can be completed. Therefore, the index to measure the flexibility of the robot plays an important role in the design, evaluation and motion planning of the robot. Scholars from various countries have carried out in-depth research and proposed many robot flexibility indicators, mainly including condition number, operability, and minimum singular value. These indicators have been applied to the configuration synthesis and trajectory planning of robots and achieved good results. Effect. Among them, for evaluating the overall condition of robot flexibility in its workspace, the existing literature proposes global performance in...

AI Technical Summary

Problems solved by technology

However, in the face of a specific task space, especially in the research on the operational performance of series robots with redundant joints, there is insufficient consideration. Most of the research objects are robots with less than six degrees of freedom, and the comprehensive optimization of motion flexibility indicators is relatively limited. few

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