王欣,易怀军,吴迪,王殿龙,孙吉胜.一种基于逆向求解的双机吊装动作规划方法[J].,2015,55(2):134-141 |
一种基于逆向求解的双机吊装动作规划方法 |
A motion-planning method for dual-crane lifting based on inverse-solving |
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DOI:10.7511/dllgxb201502003 |
中文关键词: 动作规划 双机吊装 单封闭链约束 非完整运动学约束 改进RRT-Connect++算法 |
英文关键词: motion-planning dual-crane lifting single close-chain constraint non-holonomic constraint improved RRT-Connect++ algorithm |
基金项目:辽宁省自然科学基金资助项目(201102025);大连市科学计划资助项目(2012A17GX1222013A16GX111);中央高校基本科研业务费专项资金资助项目(DUT14ZD221). |
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中文摘要: |
两台起重机协同吊装中由于起重机间的协同关系增加了其动作规划的复杂度,特别是起重机与被吊物间位置关系(即单封闭链结构)及起重机行走转弯时的非完整运动学约束易导致规划效率低、规划动作序列不优等问题.针对双机吊装系统中的单封闭链及非完整运动学约束问题,采用逆向求解的思路,以被吊物及起重机下车为驱动的构建方法,从被吊物的角度来建立双机吊装系统模型,并将位姿变量分为主动、被动变量,对于主动变量采用改进RRT-Connect++算法规划得到,再求解封闭链方程得到被动变量.最后用两个案例分析验证了该求解思路的可行性和规划的高效性. |
英文摘要: |
It makes motion-planning more difficult that the cranes cooperate in dual-crane lifting. Especially, the single close-chain problem between cranes and lifted equipment, non-holonomic problem while the cranes are turning, both lead to low planning efficiency and un-optimal planning motion sequences. For the problem of single close-chain and non-holonomic constraint in dual-crane lifting system, a way based on inverse-solving driven by lifted equipment and crane carriage is used. The model of dual-crane lifting system is established in view of lifted equipment, and the configuration variables are separated into two sets: active variables and passive variables. The improved motion-planning RRT-Connect++ algorithm directly acts on the active variables while the passive ones are obtained by solving single close-chain equations. The feasibility and efficiency of the extended planning are shown by two cases study. |
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