液压挖掘机的两级平滑挖掘规划方法

针对挖掘机在挖掘过程中遇到大障碍物时无法及时进行动作调整导致挖掘机机械损耗增加的问题,提出一种以满足挖土量为目标的轨迹规划方法.利用原像规划及下层前向搜索的两级规划方法进行轨迹规划,实现平滑挖掘,并通过Matlab仿真实验进行验证.仿真结果表明:该方法能过对挖掘过程中与障碍物的碰撞及时做出反应,通过原像规划算法完成避障方向的判断,运用前向搜索算法完成对挖掘动作的调整和再次轨迹规划,完成避障;整个规划过程轨迹平滑,关节角度无大的突变.

Research on Two-Level Planning Method of Smoothly Excavating for Hydraulic Excavator

In excavating process, an excavator cannot adjust the action of the bucket timely when large obstacles showed up. This could cause an increase in energy consumption of the machine. To solve this problem, a trajectory planning method for satisfying excavation amount was raised, which used a two-level planning trajectory method of preimage planning and forward search of lower level to achieve a smooth excavation. By using Matlab, simulation tests are performed via this method. The results of the simulation show that this method could make a response timely when excavator collides with obstacles in the process of excavating. Avoiding obstacles by using preimage planning which judges directions for avoiding obstacles and forward search which completes the adjustments of excavating action and secondary trajectory planning. Through the process, not only the planned trajectory is smooth but also the joint angles have few mutation.