Research On Trajectory Planning Of Lifting Manipulator Based On Physical Constraints

Rocket weapons,as high-performance combat weapons that can provide intensive instantaneous firepower in modern warfare,are the indispensable backbone of modern warfare.The performance of the automatic ammunition loading system with which it is equipped has a key impact on the survivability of rocket launchers.Efficient ammunition loading The system can shorten the loading time of ammunition,reduce the staffing requirements,and improve the reaction speed of rocket launchers.The hoisting manipulator is a key part of the rocket weapon ammunition loading system,and it has an important influence on the loading efficiency of the rocket weapon system.During the loading task of the hoisting manipulator,the trajectory motion of the hoisting manipulator is restricted by kinematics and dynamics.On this basis,the trajectory planning of the manipulator is studied.The main research content of this paper is divided into the following Aspects:(1)The kinematics equation of the manipulator is established by the standard DH parameter method,the inverse kinematics of the manipulator is solved by the closed solution method,the kinematics simulation is completed by the robot toolbox,and the Lagrangian method is introduced.Dynamic model derivation process.(2)Aiming at the problem of trajectory planning through path points,in the joint space,a cubic polynomial and cubic B-spline method are used to plan the joint trajectory of the manipulator for comparison,and various constraints of the manipulator are established.The genetic algorithm is used to optimize the time The planned trajectory was optimized for the goal,which verified the rationality of the planned trajectory.(3)Aiming at the trajectory replanning problem of the desired trajectory,a trajectory planning robust control outer loop inner loop integrated algorithm is designed,considering the coupling and uncertain nonlinearity of the manipulator model,and using robust control to deal with the uncertain nonlinearity of the manipulator model,Through the trajectory planner to perform kinematics and dynamics constraints on the desired trajectory,generate a new planning curve,and verify the effectiveness of the algorithm through simulation.(4)Build the Adams/Matlab joint simulation platform,establish the rigid body dynamics model of the manipulator through Adams,set the relevant constraints and motion parameters of the manipulator,and import the rigid body dynamic model established by Adams into the Matlab simulation module for joint simulation to verify The effectiveness of the algorithm.