摘要
机器人在一定工况下运动,必须沿着空间一组点的曲线由起始位置到达目标位置。为此需对其运动轨迹进行合理的规划。为了解决在路径规划中算法计算量大,易陷入局部最优的问题,利用样条函数和改进的遗传算法开发了一种多关节机器人的运动轨迹路径最优的方法。该方法使用简便,计算量小,计算精度和速度较好,且不会出现机构奇异点和局部最优的问题。通过仿真结果可以看出生成了光滑和平稳的机器人运动轨迹。
The joint movement of robot should proceed along the programmed curves from the beginning to the end under certain conditions. In order to solve the problem of large computation and easy to fall into the local optimum in the path planning, a spline function and an improved genetic algorithm are used to develop the optimal trajectory path of the multi -joint robot. The method is simple, small calculation, computational precision and speed is good, and the mechanism singularity point is not appeared. The experimental results show that the trajectory of the robot is smooth and stable.
出处
《制造技术与机床》
北大核心
2017年第7期91-95,共5页
Manufacturing Technology & Machine Tool
关键词
机器人
轨迹规划
样条函数
遗传算法
robots
trajectory planning
spline function
genetic algorithm
