靳其宝,李英华

• 1:广东海洋大学机械与动力工程学院
• 2:广东海洋大学数学与计算机学院

摘要(Abstract)：

【目的】研究解决海洋大惯量浮式平台在复杂海况影响下所引起的振动冲击问题。【方法】采用逆运动学分析方法对平台回转位置进行优化研究,提出一种基于关节最小耗能的多目标轨迹优化算法。采用分段样条插值方法构造关节位置曲线,并建立关节能耗轨迹优化模型,采用粒子群算法实现对关节位置的优化搜索,从而得到基于平台转动最小耗能的位置优化轨迹。【结果与结论】所采用的轨迹优化方法能有效改善系统运行的平滑性,降低回转机构振动与冲击的影响程度,可为平台的振动与冲击主动控制提供必要的理论依据。

关键词(KeyWords)： 张力腿平台;关节能耗;分段插值;多目标优化

Abstract:

Keywords:

基金项目(Foundation): 广东海洋大学人才引进项目(R19054);; 湛江市科技局科技攻关项目(2019B01155)

作者(Author): 靳其宝,李英华

参考文献(References)：

• [1]LIU S Z,ZHU Z C,SUN Z P,et al..Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator[J].Journal of Central South University,2014,21(7):2660-2666.
• [2]VITTEK J,BUTKO P,POSPISIL M,et al.Two approaches comparison to energy optimal position control with constant and linear torques[C]//IEEE.2015International Aegean Conference on Electrical Machines and Power Electronics (ACEMP),2015 International Conference on Optimization of Electrical and Electronic Equipment (OPTIM) and 2015 International Symposium on Advanced Electromechanical Motion Systems(ELECTROMOTION).Side,Turkey:IEEE,2015:699-704.
• [3]MA C Y,GAO H B,DING L,et al.Optimal energy consumption for mobile manipulators executing door-opening task[J].Mathematical Problems in Engineering,2018,2018(7):1-11.
• [4]IZUMI T,YOKOSE Y,TAMAI R.Minimum energy path search for a manipulator in consideration of all nonlinear characteristics by GA and its experiments[J].Electrical Engineering in Japan,2006,157(3):26-34.
• [5]BEHROO M,BANAZADEH A.Near-optimal trajectory generation,using a compound B-spline interpolation and minimum distance criterion with dynamical feasibility correction[J].Robotics and Autonomous Systems,2015,74:79-87.
• [6]GASPARETTO A,ZANOTTO V.A new method for smooth trajectory planning of robot manipulators[J].Mechanism and Machine Theory,2007,42(4):455-471.
• [7]WU Z M,SCHABACK R.Local error estimates for radial basis function interpolation of scattered data[J].IMAJournal of Numerical Analysis,1993,13(1):13-27.
• [8]FORNBERG B,WRIGHT G.Stable computation of multiquadric interpolants for all values of the shape parameter[J].Computers&Mathematics With Applications,2004,48(5/6):853-867.
• [9]JEAN D.Splines minimizing rotation-invariant seminorms in Sobolev spaces[M]//SCHEMPP W,ZELLER K.Constructive Theory of Functions of Several Variables.Berlin,Heidelberg:Springer,1977:85-100.
• [10]FRANKE R.Scattered data interpolation:tests of some methods[J].Mathematics of Computation,1982,38(157):181-200.
• [11]MADYCH W R,NELSON S A.Multivariate interpolation and conditionally positive definite functions.II[J].Mathematics of Computation,1990,54(189):211-230.
• [12]张毅.广义力学中完整非保守系统的时间积分定理[J].北京理工大学学报,1997,17(4):414-419.