Research On Operation Motion Lanning Technology For The Working Device Of Excavator-Robot

Excavator is a kind of multi-purpose engineering machinery,widely used in construction,water conservancy,roads,mines,ports,national defense and other engineering fields.With the rapid development of robot technology,bringing it into construction machinery can realize the intelligent operation of engineering machinery,reduce the labor intensity of workers and improve the operation ability of construction machinery.In this paper,the research on the motion planning technology of excavator-robot working device mainly includes the following aspects:Based on the robotics theory,the kinematics model of excavator working device is established.Solve the forward and inverse kinematics of excavator working device by D-H method and geometric relation,and establish the mapping relationship between joint space and other workspace,which lay a theoretical foundation for motion planning and software simulation of the working device.Aiming at solving the path planning problem of the excavator working device,the joint algorithm based on artificial potential field and particle swarm optimization is adopted to establish the optimization model,including the path length,path curvature,and safety optimization objectives,ensuring the safety and stability of the path,then using the B-spline curve to smooth the path,the simulation results show that the joint algorithm is reasonable.On account of the structure characteristics and operation characteristics of the excavating robot working device,trajectory planning is adopted in cartesian space to solve the problem of excavator operating precision.By using the strategy of equal time length interpolation,the smooth and continuous control of velocity and acceleration is achieved through the position control of the Adams discrete algorithm.The experiment platform of excavator-robot is built by modifying the ordinary excavator,the motion planning simulation is realized by programming on the upper computer.Through the test platform,the operation planning experiments,which are represented by soil leveling and full bucket lifting,are carried out,and obtain good results,verify the correctness and feasibility of the method presented in this paper.The above research shows that,in this paper,the simulations and experiments of the motion planning achieve the desired results and live up to the requirements of safety,rapidity and stability in the operation process,which is of great significance for improving the mining accuracy and realizing the intellectualization of the excavator.