检测机械手轨迹突变点识别方法

doi:10.3901/JME.2020.18.015

机械工程学报 ›› 2020, Vol. 56 ›› Issue (18): 15-21.doi: 10.3901/JME.2020.18.015

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检测机械手轨迹突变点识别方法

赵新玉¹, 温欣¹, 段晓敏²

1. 大连交通大学材料科学与工程学院大连 116028;
2. 大连交通大学理学院大连 116028

收稿日期:2019-05-04 修回日期:2020-03-24 出版日期:2020-09-20 发布日期:2020-11-17
通讯作者: 段晓敏(通信作者),女,1979年出生,博士,副教授。主要研究方向为信息几何及其应用,以主要完成人身份发表学术论文10余篇(其中SCI源刊9篇,EI源刊2篇)。E-mail:dxmhope@djtu.edu.cn
作者简介:赵新玉,男,1979年出生,博士,副教授。主要研究方向为焊接、检测技术与装备。以主要完成人身份发表学术论文30余篇,其中SCI源刊10篇,EI源刊15篇。E-mail:xyz@djtu.edu.cn;温欣,男,1993年出生。主要研究方向为先进无损检测技术。E-mail:296503677@qq.com
基金资助:
国家重点研发计划（2016YFF0203000）和辽宁省教育厅（JDL2019013）资助项目。

Recognition Method for Testing Manipulator Trajectory Change-point

ZHAO Xinyu¹, WEN Xin¹, DUAN Xiaomin²

1. School of Material Science and Engineering, Dalian Jiaotong University, Dalian 116028;
2. School of Science, Dalian Jiaotong University, Dalian 116028

Received:2019-05-04 Revised:2020-03-24 Online:2020-09-20 Published:2020-11-17

摘要/Abstract

摘要： 结合六轴机械手和超声无损检测技术实现自动检测，是检测自动化领域重要发展方向。超声检测要遵循运动平稳原则，检测轨迹中姿态变化较大会导致机械手速度突变，造成超声耦合不佳影响检测结果。针对上述问题，提出一种基于特殊欧几里得群信息几何结构的轨迹突变点识别方法，以轨迹当前点和前后若干点的黎曼均值差异为突变点检测依据，来预先识别出轨迹突变点，进而在这些突变点附近进行速度平滑处理。利用六轴机械手运动学反解方法验证了基于黎曼均值方法识别轨迹突变点的有效性。进一步，开展了机械手平台运动实验，识别突变点并降低邻近三点速度，使机械手各轴检测运动更加平稳。

关键词: 六轴机械手, 突变点识别, 信息几何, 黎曼均值

Abstract: A six-axis manipulator is used in ultrasonic nondestructive testing technology to realize automatic testing, which is an important development direction in the field of testing automation. In ultrasonic testing, the principle of smooth motion is followed. Sudden change in the speed of the manipulator is occurred due to large change in posture in the detection trajectory, and testing results is affected by poor coupling. To solve the above problems, a change-point detection method based on the matrix information geometry of special Euclidean group is proposed. Once a change-point occurs, the distance between the current point and the Riemannian mean of its neighbor points should be a local maximum. According to this principle, the change-points of the trajectory are identified in advance, and then the velocity is smoothed near these change-points. The effectiveness of the Riemannian mean method is verified by the inverse kinematics solution method of six-axis manipulator. Furthermore, the manipulator platform movement experiment is carried out to identify the change-points and reduce its speed near the change-points, so that the detection movement of each axis of the manipulator is more stable.

Key words: six-axis manipulator, change-point recognition, information geometry, Riemannian mean

中图分类号:

TB553

赵新玉, 温欣, 段晓敏. 检测机械手轨迹突变点识别方法[J]. 机械工程学报, 2020, 56(18): 15-21.

ZHAO Xinyu, WEN Xin, DUAN Xiaomin. Recognition Method for Testing Manipulator Trajectory Change-point[J]. Journal of Mechanical Engineering, 2020, 56(18): 15-21.

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检测机械手轨迹突变点识别方法

Recognition Method for Testing Manipulator Trajectory Change-point

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