一种六自由度机械手的智能轨迹规划  

Intelligent Trajectory Planning of a Robot Manipulator with Six Degrees of Freedom

作　　者：苗建伟[1] 杨铁宝 曾林森 

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《组合机床与自动化加工技术》2014年第9期73-76,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金重点项目(61134002);中央高校基本科研业务费资助项目(SWJTU11CX028)

摘　　要：工业焊接机械手的轨迹规划是研究工业机器人的重要工作之一,文章采用D-H建模方法对一种六自由度机械手进行运动学分析,建立正逆运动学模型。轨迹规划采用三种智能优化算法,即蚁群算法、模拟退火算法和禁忌搜索算法来寻找最短的焊接路径。通过规划机械手的最短运动路径,分析三种智能优化算法的不同特点,得出三种智能优化算法在不同方面的优劣性。仿真和实验结果表明:蚁群算法的精度和稳定性最好,时间依赖性较小;模拟退火算法找到最优解的概率最大。Trajectory planning of a welding manipulator plays an important role in the study of industrial ro-bot. In this paper, a D-H model is established for a robot manipulator with six degrees of freedom （ 6-DOF） . Three intelligent optimization algorithms, namely ant colony, simulated annealing and tabu search algorithm, are then employed to find the shortest welding path. By planning the shortest path of the manipu-lator, analyzing the different characteristics of three kinds of intelligent optimization algorithm, it concluded the advantages and disadvantages of three kinds of intelligent optimization algorithms in different aspects. Simulation results show that the ant colony algorithm has the best accuracy and robustness, while simulated annealing algorithm has the highest probability of finding the shortest path.

关 键 词：工业机器人 运动学分析 智能优化算法 轨迹规划 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]