移动机械臂牵引卷装纱线的动态建模与控制

doi:10.13475/j.fzxb.20231202801

摘要/Abstract

摘要：

随着纺织工业的智能化转型需求,应用于纺织产业的工业机器人技术不断发展。针对在复杂的纺织加工环境下,机器人对柔性纱线直接操纵存在的纱线形态感知困难与空间局限性,以移动机械臂对织造领域整经纱架上卷装线头的牵引操纵为例,提出一种集成机器人避障运动规划策略的卷装纱线牵引操纵控制框架。构建了卷装纱线系统的动力学模型,解析了机器人与纱线间的运动耦合关系和机器人牵引纱线的运动控制方程,提出了基于纱线轴向应变约束的改进自适应引导快速扩散随机树算法,保障机器人避障运动的同时防止纱线被过度拉伸。通过数值仿真验证了该控制框架的有效性,实现了机械臂对卷装纱线从起点到目标点的无碰撞柔顺牵引操纵。

关键词: 纱线动力学, 卷装线头牵引, 移动机械臂, 自适应引导快速扩散随机树算法, 避障规划, 智能制造

Abstract:

Objective With the continuous development of robotics and textile industry intelligence, the use of industrial robots to replace manual labor to complete all types of typical textile processing skills operations has become a new trend in the textile industry. However, in complex textile processing environments, the direct manipulation of flexible yarns by robots suffers from yarn morphology perception difficulties and spatial limitations. Therefore, a yarn-pulling manipulation control framework with an integrated robotic obstacle avoidance motion planning strategy is proposed to realize collision-free and smooth pulling manipulation of package yarn on the warping frame by the robot from the starting point to the target point.

Method First, the dynamics model of yarn on the package surface is constructed; then the motion coupling relationship between the robot and the yarn is analyzed and the motion control equation of the robot pulling the yarn is given; furthermore, the improved adaptive goal-guided rapidly-exploring random trees (AGG-RRT) algorithm based on the axial strain constraints of the yarn is proposed; finally, the motion planning is out carried for the mobile composite manipulator, which prevents the yarn from overstretching while circumventing the obstacles.

Results In simulation experiment 1, taking the mobile manipulator bypass from the front of the yarn frame to the back of the yarn frame as an example, the robot obstacle avoidance path search is simulated to test the obstacle avoidance ability when facing a large obstacle. The results show that after eight traversal collision detection and correction of the searched robot end collision-free path, a completely collision-free path in the robot joint space is obtained, and the movement process of the robot around large obstacles is shown, and the translation motion curves of the robot's mobile chassis and the joint motion curves of the manipulator are obtained. In simulation experiment 2, taking the mobile manipulator gripping the reserved yarn end of the package and pulling around the obstacle to the target point as an example, the simulation for searching the obstacle avoidance path of the robot pulling yarn is carried out. The results show that after eight traversal collision detection and correction of the searched robot end collision-free path, a completely collision-free path in the robot joint space is obtained, and the translation motion curves of the robot's mobile chassis and the joint motion curves of the manipulator are obtained. Furthermore, the collision-free path of the mobile manipulator is planned in the Cartesian coordinate system using S-shaped velocity curve to obtain the interpolation trajectory of the robot pulling yarn. Then, according to the dynamic model and the motion control equation, the spatial configuration and the overall axial strain of the yarn under each moving time step of the robot are obtained, and the obstacle avoidance motion process of robot pulling yarn is shown. The results show that the absolute value of the overall axial strain of each element of the yarn is smaller than the preset value.

Conclusion Simulation results validate the ability of the obstacle avoidance algorithm to bypass large obstacles and show its applicability in complex textile processing environments. The successful planning of a collision-free trajectory for the robot pulling yarn and the effective control of the axial strain of the yarn demonstrate the effectiveness of the control framework, which can realize a collision-free and flexible hauling operation of the manipulator for the packaged yarn from the starting point to the target point.

Key words: yarn dynamics, package yarn end-pulling, mobile manipulator, adaptive goal-guided rapidly-exploring random trees, obstacle avoidance planning, intelligent manufacturing

中图分类号:

TS108

许高平, 孙以泽. 移动机械臂牵引卷装纱线的动态建模与控制[J]. 纺织学报, 2024, 45(01): 1-11.

XU Gaoping, SUN Yize. Dynamic modeling and control of package yarn pulled by mobile manipulator[J]. Journal of Textile Research, 2024, 45(01): 1-11.

图/表 22

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图9

表1

移动机械臂MDH参数表"

	关节 i	关节类型 $σ i$	扭转角 $α i - 1$ / (°)	连杆长度 $a i - 1$ /mm	关节角 $θ i$ /(°)	连杆偏移 $d i$ /mm	转角范围/ (°)
移动底盘	1	1	0	0	0	0	-
	2	1	0	0	0	0	-
	3	0	0	0	$θ 1$	292	±360
关节机械臂	4	0	0	0	$θ 2$	187	±360
	5	0	0	0	$θ 3$ +90	6	±125
	6	0	90	210	$θ 4$ +90	0	±130
	7	0	0	0	$θ 5$ +180	210	±360
	8	0	90	0	$θ 6$ +180	0	±120
	9	0	90	0	$θ 7$ +180	160	±360
夹爪	10	-	0	0	0	200	-

表1

表2

绕过纱架路径搜索仿真参数"

起始位姿	目标位姿	ρ/m	λ_max	k₁	k₂
$00 - 1 1 010010000001$	$001 - 1.5 0100 - 1 000 0001$	0.02	1.50	1	100

表2

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图11

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图13

表3

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图17

图18

图19

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纱线参数	数值	卷装参数	数值
ρ_yarn/(kg·m^-1)	5.5×10^-5	β/(°)	5.0
R/m	1.9×10^-4	?/(°)	5.0
E/Pa	8.0×10⁷	R_m/m	0.10
D	0.1	E_n/Pa	4.6×10⁶
υ_y	0.4	υ_n	0.4