摘要
针对六自由度关节型解耦机械臂在抓取目标物体过程中出现的不稳定性、快速性以及最大速度约束的问题,提出了一种差分进化算法(DE)优化的时间最优3-5-3多项式插值机械臂轨迹规划算法。以优化运行过程的最小时间为目标,兼顾最大速度约束以及运行的稳定性,利用DE的优化能力调整适合的系统参数,进行关节空间轨迹规划,并在运动学仿真的基础上证明方法的有效性。对比仿真结果表明,DE法优化的轨迹运行时间更短,运动轨迹光滑,而且满足了速度约束,优于传统方法。
Based on the instability, quickness and velocity limitation of 6 -DOF manipulator in the process of grasping objects, a Time - optimal 3 - 5 - 3 polynomial interpolation trajectory planning algorithm was proposed based on Differential evolution algorithm（ED）. According to the velocity limitation of manipulator, the characteris- tics of simple structure and easily adjusted parameters of ED prove the effectiveness of the method. The comparison between the algorithm and traditional spline interpolation on the position, velocity and acceleration of the movement shows that the running time of the algorithm is shorter, and its stability and fluidity are better.
出处
《计算机仿真》
CSCD
北大核心
2015年第8期332-337,共6页
Computer Simulation
基金
国家自然科学基金项目(51266001)
关键词
轨迹规划
机械臂
差分进化算法
时间最优
Trajectory
Manipulator
Differential evolution algorithm
Time optimal
