摘要
为了解决传统光电跟踪设备的跟踪性能测试系统参数调试繁琐、设备安装困难、靶标适用性差等问题,研究了基于机械臂路径规划的内场轨迹实现技术。通过规划六自由度机械臂的末端运动轨迹,设计了更加灵活、高效的跟踪性能测试系统。首先,对传统测试靶标系统进行分析,明确实现跟踪性能测试的数学模型;然后提出基于六自由度机械臂的新型技术方案,并分析了两种方案的差异性;接着通过靶标轨迹的坐标变换,根据传统动态靶标轨迹得到适用于六自由度机械臂的末端位姿参数,从而实现轨迹规划;最后,通过数值仿真验证了本文方法与传统方法的跟踪性能测试效果的一致性。仿真结果表明,两者具有相同的跟踪性能测试效果。相较于传统方法,采用机械臂的测试系统在参数调节、工具安装和靶标适用性上更具优势,完全能够满足光电跟踪设备内场跟踪性能测试的要求。
In order to solve the problems such as tedious parameter debugging,difficult equipment installation and poor target applicability in the tracking performance test system of traditional photoelectric tracking equipment,an infield trajectory realization technology based on path planning of mechanical arm is studied.A more flexible and efficient tracking performance testing system is designed by planning the trajectory of the end of the six-degree-of-freedom mechanical arm.Firstly,the traditional test target system is analyzed,and the mathematical model of tracking performance test is defined.Then,a new technology scheme based on the six-degree-of-freedom mechanical arm is proposed,and the differences between the two schemes are analyzed.Through the coordinate transformation of the target trajectory,the terminal pose parameters suitable for the six-degree-of-freedom mechanical arm are obtained according to the traditional dynamic target trajectory,so as to realize the trajectory planning.Finally,the consistency between the proposed method and the traditional method is verified by numerical simulation.Simulation results show that the proposed method has the same tracking performance as the traditional method.Compared with traditional methods,the test system based on mechanical arm has more advantages in parameter adjustment,tool installation and target applicability,which can fully meet the requirements of photoelectric tracking equipment in the field tracking performance test.
作者
乔丹
高阳
QIAO Dan;GAO Yang(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China)
出处
《红外》
CAS
2023年第6期38-43,48,共7页
Infrared
关键词
路径规划
机械臂
光电跟踪设备
跟踪测试
path planning
mechanical arm
photoelec trictracking equipment
tracking test
