摘要
为了实现机械臂在工业中高精度、高效率作业,提出一种基于量子粒子群优化(QPSO)算法求解六自由度机械臂的时间最优运行轨迹的方法。针对多项式差值的轨迹规划具有阶次较高、没有凸包性等特点,利用3—5—3分段插值法建立轨迹函数。解决了多项式插值轨迹阶次高、难被优化的问题。轨迹优化效果良好,关节角度位置、速度和加速度无突变。仿真实验证明了该方法的可行性。通过对比得出:QPSO较于一般PSO与双层PSO更适用于对工业机械臂的时间最优轨迹规划。
In order to realize high precise and high efficienty operation of the manipulator in the industry,a method based on quantum particle swarm optimization( QPSO) algorithm to solve the time optimal trajectory of the six-degree-of-freedom manipulator is proposed. Aiming at the characteristic that the trajectory planning of polynomial interpolation has higher order,and there is no convex hull,this method uses the 3-5-3 piecewise interpolation method to establish the trajectory function. The method solves the problem that the polynomial interpolation trajectory has high order and is difficult to be optimized. The trajectory optimization effect is good,and the joint angular position,velocity and acceleration have no mutation. The simulation experiment proves the feasibility of the method. By comparison,QPSO is more suitable for time-optimal trajectory planning of industrial robot arm than general PSO and double-layer PSO.
作者
肖仁
吴定会
XIAO Ren;WU Dinghui(Engineering Research Center of Internet of Things,Technology Application,Ministry of Education,Jiangnan University,Wuxi 214122,China)
出处
《传感器与微系统》
CSCD
2020年第8期38-41,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(61572237)
2018届江苏研究生实践创新计划项目(SJCX18-064)。
关键词
量子粒子群优化算法
六自由度机械臂
多项式插值
时间最优
轨迹规划
quantum particle swarm optimization(QPSO)algorithm
six-degree-of-freedom(DOF)manipulator
polynomial interpolation
time optimal
trajectory planning
