A study on trajectory planning of hydraulic robotic excavator based on movement stability

摘要

This paper analyses the working mechanism of hydraulic robotic excavator. By using Denavit-Hartenberg matrix, the kinematics model of working mechanism is established. The transform relationships among the configuration space, joint space and drive space are deduced as well. In addition, a trajectory planning method is presented to improve the movement stability of hydraulic robotic excavator. Compared with other methods, this method takes the velocity and acceleration factors of each hydraulic cylinder into account, which makes the trajectory more stable. In addition, time intervals are considered as the the design variables, which not only can guarantee the accuracy of the original trajectory, but also have fewer variables. Under the restrictions of kinematics, trajectory planning of the excavator is completed. With genetic algorithm, the proposed method is verified through simulation. The results show that the presented method can decrease the fluctuation of velocity and the saltation of acceleration efficiently in trajectory planning.