基于混合遗传算法的机器人操作臂最优路径规划  

Optimal path planning of manipulation arm of robot based on hybrid genetic algorithm

作　　者：倪厚强[1] 陈建新[1] 张志高[1] 朱兴龙[1] 

机构地区：[1]扬州大学机械工程学院,江苏扬州225009

出　　处：《机械设计》2008年第12期34-35,58,共3页Journal of Machine Design

基　　金：江苏省自然科学基础研究计划资助项目(BK2007084)

摘　　要：针对目标物体在空间的位置和姿态确定的情况下,机器人操作臂如何选择一条满足关节转角约束,且使所有关节转动角度之和为最小的最佳路径这一问题,提出了一种将遗传算法与SWIFT算法相结合的混合遗传算法,用于冗余度机器人操作臂最优路径的规划,该算法具有全局最优。最后通过对YJP-Ⅱ机器人6自由度操作臂的仿真结果,验证了该算法的正确性和可行性。Under the situation of assured spatial position and posture of target object, aiming at the problem of how to choose an optimal path that satisfies the constraint of joint turning angle and let the sum of all the joint turning angles to be a minimum, a kind of mixed genetic algorithm that let the genetic algorithm be combined with the SWIFT algorithm has been put forward. This algorithm was applied to the optimal path planning of the manipulation arm of redundancy robot and bears an overall situational optimization. Finally by means of simulated result on the 6 DOF manipulation arm of the YJP-Ⅱ robot, the correctness and feasibility of this algorithm was testified.

关 键 词：冗余度操作臂 转角约束 最优路径规划 遗传算法 SWIFT算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]