关节型机器人高承载轨迹规划方法

针对机器人在工作过程中存在关节载荷较大等问题，以饰面作业机器人（以下简称Hebut-KB机器人）为研究对象，提出一种面向大载荷施工作业环境下机器人驱动承载能力最优的轨迹规划方法。首先，对Hebut-KB机器人运动学及简化刚体动力学进行分析，使用多目标遗传算法（NSGA-II）求出在满足运动学与动力学约束条件下的多组优化解，然后建立起关节型机器人驱动承载能力的评价指标，最后通过驱动承载能力评价指标选取出潜在最优解。仿真和实验表明，使用驱动承载能力评价函数选取出的解可以达到综合最优效果，有效的提升了机器人的承载能力。

Research on high load trajectory planning method of articulated robot

Aiming at the problem of large joint load of robots in the construction process, a trajectory planning method for the optimal driving and bearing capacity of robots in the heavy load construction environment is proposed by taking the finishing robot (hereinafter referred to as Hebut-KB robot) as the research object. Firstly, the kinematics and simplified rigid body dynamics of hebutkb robot are analyzed, and multi-objective genetic algorithm (NSGA-II) is used to find out multiple groups of optimal solutions under the condition of satisfying the kinematic and dynamic constraints, then the evaluation index of the driving bearing capacity of the joint robot is established, and finally the potential optimal solution is selected through the evaluation index of the driving bearing capacity. Simulation and experiment show that the solution selected by using the evaluation function of driving bearing capacity can achieve the comprehensive optimal effect and effectively improve the bearing capacity of the robot.