期刊文献+

基于IGA的机械臂时间最优轨迹规划 被引量:1

Time Optimal Trajectory Plamning of Manipulator Based on IGA
下载PDF
导出
摘要 针对传统机械臂轨迹规划效率较低的问题,课题组提出了对传统遗传算法初始种群的选取及种群的变异策略改进的方法。该方法以三次B样条插值曲线作为轨迹规划的基础,以各关节运动角速度、角加速度、角加加速度作为运动约束,使用改进型遗传算法(improved genetic algorithm,IGA)进行时间优化,可以得到满足运动约束条件的时间最优运动轨迹。课题组以自主研发的QFB140机械臂作为研究对象,采用改进型D-H参数进行标识,并导入MATLAB进行仿真。结果表明:IGA在时间优化上有了较大提升,进一步实现了时间最优轨迹规划,提高了工作的效率。 Aiming at the low fficiency of traditional manipulator trajectory planning,an improvement on the method of traditional genetic algorithm to select the initial population and the population mutation strategy was proposed.With cubic B-spline interpolation curve as the basis of trajectory planning,the motion speed,acceleration and jerk of each joint were used as motion constraints,and an improved genetic algorithm(IGA)was adopted for time optimization to obtain the time optimal motion trajectory that satisfied the kinematic constraints.Taking the self-developed QFB140 manipulator as the research object,the improved D-H parameters were used for identification and imported it into MATLAB for simulation.The results show that the IGA has a great improvement in time optimization,and further realizes the time optimal trajectory planning,and improves work eficiency.
作者 许永桥 倪艳光 潘若鸣 刘玉 王恒迪 XU Yongqiao;NI Yanguang;PAN Ruoming;LIU Yu;WANG Hengdi(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan 471003,China;Luoyang Qiange Robot Tehnology Co.,Ltd.,Luoyang,Henan 471000,China)
出处 《轻工机械》 CAS 2023年第2期66-71,77,共7页 Light Industry Machinery
基金 山东省重点研发计划(2020CXGC011003)。
关键词 机械臂 三次B样条 时间最优 改进型遗传算法 manipulator cubic B-spline time optimal IGA(Improved Genetic Algorithm)
  • 相关文献

参考文献11

二级参考文献108

  • 1何平,刘宏,金明河.基于样条函数的机器人轨迹规划方法[J].机器人,2003,25(z1):614-618. 被引量:16
  • 2朱龙英,陆宝发,成磊,郑帅,赫建立.刚柔耦合机器人仿真及振动分析[J].中国工程机械学报,2015,13(2):120-123. 被引量:6
  • 3申加刚,董再励,郝颖明,朱枫.排爆作业机器人模拟训练系统研究[J].机器人,2005,27(5):426-430. 被引量:5
  • 4陈国良,黄心汉,王敏.机械手圆周运动的轨迹规划与实现[J].华中科技大学学报(自然科学版),2005,33(11):63-66. 被引量:18
  • 5Xu X R,Wang X G, Qin F. Trajectory planning of robot manipula- tors by using spline function approach[ A ]. Proceedings of the 3rd World Congress on Intelligent Control and Automation [ C ] , 2000: 15-12190.
  • 6Huang P F, Xu Y S. PSO-Based time-optimal trajectory planning for space robot with dynamic constraints [ C 1 - Proceeding of the 2006 IEEE International Conference on Robotics and Bionfinmetics. 2006 (9) : 1402-1407.
  • 7Huang G,Li D,Yang J. A research on partical swarm optinfization and its application in robot manipulators [ C ]. IEEE Pacific-Asic Workshop on Computational Intelligence and Industrial Applica- tion. 2008:377 -381.
  • 8曾建军,杨汝清,张伟军.有限人参与下的排爆机器人半自主抓取[J].上海交通大学学报,2007,41(8):1238-1243. 被引量:8
  • 9Niku S B.机器人学导论分析、控制及应用(第二版)[M].北京:电子工业出版社,2013.
  • 10Solteiro Pires E J, de Moura Oliveira P B, Tenreiro Machado J A.Manipulator trajectory planning using a MOEA[J]. Applied Soft Computing ,2007(7):659-667.

共引文献165

同被引文献16

引证文献1

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部