Modeling and High-performance Trajectory Optimization of the Industrial Robot

摘要

Abstract Rapidity, accuracy and energy cost are the key performance indexes for of the work of industrial robot. In this paper, the shortest time and the minimum energy consumption are taken as the goal for the comprehensive optimization. The control vector parameterization method is used to reasonably refine the time grid of the optimization problem. Then, an efficient control strategy for non-uniform adaptive mesh refinement is proposed. According to different changing trends, time nodes are merged or inserted into the time grid. While reducing the number of discrete grids, it also ensures the accuracy of the solution. Taking the Manutec R3 industrial robot as the object, the trajectory optimization simulation calculation is carried out. According to the verification of the simulation computing, the proposed method can significantly improve the time grid refinement. Compared with the traditional CVP method, not only the calculation time is shortened, but also more accurate results can be obtained.