一种串联机器人的全局参数优化设计方法

摘要

针对串联机器人物理参数方程的非线性导致的只能对串联机器人进行局部优化的问题，提出了一种基于线性矩阵不等式的全局优化方法。该方法从串联机器人机构与控制协同设计的理念出发，通过将非线性动力学方程的求解转化为线性矩阵不等式的优化问题，以消耗能量最小的方式来分析串联机器人指定动作下的动态特性，进而从全局角度来获取质量、几何尺寸、惯量等最优物理参数。用该方法指导4自由度重载机器人样机设计，运行效果验证了该方法的有效性。%To the problems that nonlinear physical-parameter function of serial manipulators led to local optimization,a global optimal method based on linear matrix inequality was proposed.Acording to the ideas of co-work of mechanism and control system,the dynamic characteristics of prescript ac-tion were analyzed using minimum energy law by transfering the solution of nonlinear dynamic func-tion to optimization problems of linear matrix inequality.Further,the gloal optimal physical parame-ters,such as the mass,the geometirc dimenstion,the moment of inertia,were achieved.A 4-DOF heavy-load robot was designed by this method,and the operating results verify the effectiveness of the proposed method.