机器人操作臂跟踪动态目标的轨迹规划方法  

Trajectory Planning of Robotic Manipulator to Tracking Moving Target

作　　者：由畅宇[1] 韩建达[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学重点实验室

出　　处：《微计算机信息》2007年第26期254-256,共3页Control & Automation

摘　　要：针对机器人操作臂跟踪运动目标问题,提出一种基于遗传算法的轨迹规划方法。通过对关节加速度的增量进行编码,实现在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中所需要的轨迹。仿真计算的结果表明,所提出的方法是有效的。To tracking the moving target by the robot manipulator, a new approach for trajectory planning of robotic manipulators based on genetic algorithm is presented in this paper. In this approach, the changing of the joint acceleration is coding for the EA., the trajectory of the manipulator is obtained by searching in the joint space.The process of tracking moving targets is demonstrated in the simulation parts and the simulation results show that this approach is significantly effective in the real applications.

关 键 词：机器人操作臂 遗传算法 轨迹规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]