煤矿巷道七自由度喷浆机器人轨迹规划与跟踪控制

程欢; 邓立营

doi:10.13272/j.issn.1671-251x.2023050057

煤矿巷道七自由度喷浆机器人轨迹规划与跟踪控制

doi: 10.13272/j.issn.1671-251x.2023050057

程欢,
邓立营

沈阳工业大学化工装备学院，辽宁沈阳　110000

基金项目: 新疆国家重大工程科研计划项目（EQ057/FY056）。

详细信息

作者简介:
程欢（1999—），女，重庆人，硕士研究生，研究方向为多自由度喷浆机器人协调控制，E-mail：15223498229@163.com

中图分类号: TD421
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- 被引次数: 0
出版历程
- 收稿日期: 2023-05-17
- 修回日期: 2024-01-24
- 网络出版日期: 2024-01-31

Trajectory planning and tracking control of a seven degree of freedom shotcrete robot in coal mine roadway

School of Chemical Equipment, Shenyang University of Technology, Shenyang 110000, China

摘要

摘要: 针对煤矿巷道喷浆机器人施工过程中存在的动作不连续、位置误差大、稳定性低等问题，提出了一种煤矿巷道七自由度喷浆机器人轨迹规划与跟踪控制方法。根据喷浆机器人静止时工作臂的运动范围和喷枪沿巷道走向的喷浆长度，将巷道划分为若干待喷截面，并规划机器人在每一截面间的移动轨迹和各截面上的工作臂运动轨迹，从而保证机器人在喷浆过程中动作连续。建立了喷浆机器人运动学模型，先采用三次多项式插值法对机器人移动轨迹进行规划，再通过模型预测控制算法对三次多项式插值生成的参考轨迹进行跟踪控制，实现机器人在巷道内精确、平稳移动。根据标准的D−H参数法建立了工作臂运动学模型，采用3−5−3分段多项式插值法对机器人在待喷截面的工作臂运动轨迹进行规划，使工作臂在喷浆过程中具有连续的加速度。仿真结果表明，喷浆机器人移动过程中最大位置误差为0.07 m，最大方向角误差仅为0.99 rad，移动速度整体稳定，且速度发生波动后能快速回到稳定状态，满足机器人移动准确、平稳的要求；工作臂运动过程中，喷浆轨迹、关节变量变化、关节速度和加速度曲线整体连续、平滑，满足喷浆动作连续、稳定的要求。
- 喷浆机器人 /
- 轨迹规划 /
- 轨迹跟踪控制 /
- 模型预测控制 /
- 3−5−3分段多项式
Abstract: During the construction process, the coal mine roadway shotcrete robot has the problems of discontinuous motions, large position errors, and low stability. In order to solve the above problems, a trajectory planning and tracking control method of a seven degree of freedom shotcrete robot in coal mine roadways is proposed. Based on the range of motion of the working arm when the shotcrete robot is stationary and the shotcrete length of the airbrush along the roadway direction, the roadway is divided into several sections to be sprayed. The robot's motion trajectory between each section and the motion trajectory of the working arm on each section are planned to ensure continuous action of the robot during the spraying process. A kinematic model of the shotcrete robot is established. Firstly, the robot's motion trajectory is planned using the cubic polynomial interpolation method. Secondly, the reference trajectory generated by the cubic polynomial interpolation is tracked and controlled using the model predictive control algorithm. It achieves precise and smooth motion of the robot in the roadway. A kinematic model of the working arm is established based on the standard D-H parameter method. The 3-5-3 section polynomial interpolation method is used to plan the motion trajectory of the robot's working arm on the section to be sprayed, so that the working arm has continuous acceleration during the spraying process. The simulation results show that the maximum position error of the shotcrete robot during its motion is 0.07 m, and the maximum directional angle error is only 0.99 rad. The overall motion speed is stable, and it can quickly return to a stable state after speed fluctuations, meeting the requirements of accurate and stable robot motion. During the motion of the working arm, the spraying trajectory, joint variable changes, joint velocity and acceleration curves are overall continuous and smooth, meeting the requirements of continuous and stable spraying actions.
- shotcrete robot /
- trajectory planning /
- trajectory tracking control /
- model predictive control /
- 3-5-3 section polynomial

HTML全文

图 1 喷浆机器人组成

Figure 1. Composition of shotcrete robot

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图 2 工作臂关节设置

Figure 2. Working arm joint setup

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图 3 喷浆机器人在巷道中的轨迹

Figure 3. Trajectory of shotcrete robot in roadway

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图 4 喷浆机器人工作流程

Figure 4. Work flow of shotcrete robot

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图 5 喷浆机器人运动学模型

Figure 5. Kinematics model of shotcrete robot

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图 6 喷枪参考轨迹

Figure 6. Airbrush reference trajectory

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图 7 机器人位置跟踪曲线

Figure 7. Robot position tracking curve

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图 8 机器人方向角跟踪曲线

Figure 8. Robot direction angle tracking curve

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图 9 机器人移动速度控制曲线

Figure 9. Robot moving speed control curve

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图 10 工作臂运动轨迹

Figure 10. Working arm motion trajectory

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图 11 工作臂关节变量变化曲线

Figure 11. The change curves of working arm joint variable

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图 12 关节3速度曲线

Figure 12. Velocity curve of joint 3

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图 13 关节3加速度曲线

Figure 13. Acceleration curve of joint 3

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表 1 工作臂D−H参数

Table 1. D-H parameters of working arm

关节j	$ {{\varOmega}}_{j} $/mm	$ {{\alpha }}_{j}$/(°)	$ {{d}}_{j} $/mm	$ {{\vartheta }}_{j} $/(°)
1	0	90	0	$ {{\vartheta }}_{1} $
2	1 000	−90	0	$ {{\vartheta }}_{2} $
3	0	90	$ {d}_{1} $	0
4	0	−90	$ {d}_{2} $	0
5	0	0	1 000	$ {{\vartheta }}_{3} $
6	0	−90	$ {d}_{3} $	0
7	0	0	1 000	$ {{\vartheta }}_{4} $

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