一种基于微粒群优化算法的冗余机械手轨迹规划法  

Trajectory planning method for redundant manipulator based on a kind of particle swarm optimal algorithm

作　　者：叶军[1] 

机构地区：[1]绍兴文理学院机电系,浙江绍兴312000

出　　处：《机械设计》2004年第7期20-22,共3页Journal of Machine Design

基　　金：浙江省自然科学基金资助项目 (M60 30 70 )

摘　　要：针对冗余机械手应用遗传算法 (或免疫遗传算法 )的轨迹规划所存在的不足 ,提出了基于微粒群优化算法的冗余机械手轨迹规划方法。利用此算法对寻优过程进行仿真研究 ,所得结果令人满意 ,与遗传算法相比 ,微粒群算法简单、容易 ,且收敛速度快。此方法能够有效地进行机械手轨迹规划 。Aimed at the deficiency existed in trajectory planning of redundant manipulator by applying genetic algorithm (or immune genetic algorithm), the trajectory planning method for redundant manipulator based on particle swarm optimal algorithm has been put forward. By the use of this method to carry out the simulation research on the process of optimization seeking, the result thus obtained is satisfactory. When compared with the genetic algorithm, the particle swarm algorithm is simple, easy and possessing a quick convergence speed. The method of this paper could effectively carry out the trajectory planning of manipulator; therefore it could bring the effect of redundancy into full play so as to provide new train of thought for improving the movement of manipulator.

关 键 词：微粒群优化算法 冗余机械手 关节轨迹规划 遗传算法 仿真 机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP301.6[自动化与计算机技术—控制科学与工程]