Time Optimal Trajectory Planning Based on Simulated Annealing Algorithm for a Train Uncoupling Robot

被引：0
|
作者：
Yao Jianjun [1 ]
Sun Cheng [1 ]
Zhang Le [1 ]
Xiao Chenguang [1 ]
Yang Ming [1 ]
Zhang Shiqi [1 ]
机构：
[1] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin 150001, Heilongjiang, Peoples R China
来源：
2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年
基金：
黑龙江省自然科学基金; 中国国家自然科学基金;
关键词：
Train Uncoupling Robot; Trajectory Planning; Time Optimal; SA Algorithm; MANIPULATORS; SMOOTH;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A train uncoupling robot with four degrees-of-freedom has been developed to replace humans in the uncoupling task in a marshalling field for designating freight cars to different destinations. This can avoid picking the wrong hook, improve work efficiency and reduce the workload of workers. Trajectory planning can ensure that the robot moves to target position smoothly and quickly. Simulated Annealing (SA) algorithm based on penalty function is proposed to get the optimal time of trajectory planning in this paper. Time optimal trajectories of robot joints are obtained under the constraints of maximum speed, maximum acceleration and maximum jerk speed. It can be seen from the simulation curves that the robot can move smoothly and there is no impact phenomenon.
引用
收藏
页码：5781 / 5785
页数：5
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