Excavator Power Arm's Digging Trajectory Planning Method Research

Excavator's trajectory planning is a main research direction of this machine's intelligent development,and is also the first step realize trajectory control.Excavator's trajectory means when excavator is working,according to known information such as points that bucket's tooth top must through and excavator's pose when through those points,plan excavator working device's pose at any time.In addition,excavator's trajectory must keep machine's stability in working.This paper researched current path plan method and excavator's forward and inverse kinematics problem,promoted intelligent self-planning method that take bucket's top and digging back angle as decision variables,analyzed and tested this method.With standard D-H coordinate system,researched excavator's inverse kinematics direct problem solving method,promoted a kind of indirect intelligent solving method.This indirect method combined main stream intelligent optimization method,can be used for solving inverse kinematics problems,simplified calculation,and made it more intuitionistic.Token genetic algorithm as example,solved a inverse kinematics problem,proved the convenience of indirect method.Analyzed current planing methods' advantages and disadvantages,based of indirect method above,promoted a intelligent planning method which can build mathematics connection with digging target.This method token digging force,bucket capacity and interference of bucket to soil as optimization goals,continuously selected optimized tooth top path and digging back angle function,finally made digging path provide enough digging force,satisfied bucket capacity and had no inference.Token genetic algorithm as the core intelligent method,simulated it at Matlab simulation platform.Compare with traditional method,simulation proved that the new method has more practicability.Base of excavator's model,built experiment platform,installed distance sensor,changed the control method to electronic control and had ability to collect cylinder distance in real time,formed a system on chip control systemwith closed-loop feedback.Searched IIC communication mode and application method,programmed with Qt as integrated development environment and MySQL database as media,compiled a excavator control system loaded in embedded Linux operation system.Finally,on experiment platform above,selected two representative working situations,planned and experimented those situation with genetic algorithm trajectory self-planning method.Experiment proved that the intelligent method perform well in kinematics.