Robot Collision Dynamics Analysis And Trajectory Optimization

Robots are widely used in national production,and their performance directly affects the quality and efficiency of products.However,in the process of robot working,it is inevitable to collide with the external environment.The impact will seriously affect the stability and dynamic performance of the robot system,at the same time,the system and the target will be damaged by the large impact.Therefore,the collision problem is an important topic in robotics research,which has important theoretical and application value.This paper mainly studies the collision problem in the working process of robot from the following aspects:Firstly,the collision dynamic model of the robot system is established based on the Lagrange equation,and the external impulse solving model of the system is derived by combining the classical collision theory and the recovery coefficient equation.On this basis,the concept of impact motion mapping matrix is proposed.Based on this,the impact motion performance evaluation index of robot is constructed to evaluate the ability of the system to maintain motion stability under external impact.The influence of the structural parameters of the robot on its motion stability is simulated and analyzed to select the reasonable design parameters of the mechanism.Secondly,on the basis of the external impulse solving model,the Newton Euler equation is used to analyze the force on a single component and establish the internal impulse model of the joint of the series robot system;the joint of the parallel robot is virtually cut to establish the internal impulse model of the joint of the parallel robot system.The influence of component parameters on internal impact is analyzed by simulation.Finally,in order to reduce the impact in the working process,the trajectory of the robot is optimized.According to different working conditions,the collision problem of serial robot is divided into fixed point collision and moving point collision.For fixedpoint collision,the pose of collision need to be optimized.For moving point collision,the zero space of Jacobian matrix is used to optimize the joint space.In order to reduce the acceleration and the internal impact of the parallel robot,the gate trajectory is adopted and the cycloid is used as the transition curve between the straight line and the circular arc.