基于PSO算法优化的机械臂轨迹规划研究  

Trajectory planning optimization of manipulator based on the PSO algorithm

作　　者：李白雅[1] 姜柏庄[1] 龚明[1] 许周钊[2] 张智敏 

机构地区：[1]湖南科技大学信息与电气工程学院,湖南湘潭411201 [2]湖南省电力公司岳阳汨罗电力局,湖南岳阳414400 [3]中铁十八局集团昆明项目部,昆明650000

出　　处：《信息技术》2014年第9期20-23,32,共5页Information Technology

基　　金：湖南省科技计划项目(2011FJ6028);湖南省研究生科研创新项目(CX2012B393);湖南科技厅科技计划项目(2014FJ3047)

摘　　要：目前机械臂轨迹规划的优化目标大多在最短路径、最优时间等方面且存在由于多项式差值轨迹规划具有阶次高、没有凸包性,难以应用传统优化方法进行优化等缺点。现提出了对最小能耗、最小加加速度等指标的优化。该优化是在传统时间最优的基础上,利用粒子群优化的4-3-4多项式插值轨迹规划算法,针对综合时间、能耗、加加速度等指标进行优化。实验以三关节机械臂为例进行仿真,结果证明了PSO优化过程和能耗函数的有效性。At present, most of optimization goals of manipulator were shortest path and optimal time, ete, and the polynomial differential trajectory planning existence shortcomings of high order and lack of the convex hull, which is difficult to be applied to optimize by traditional optimization method. This paper puts forward the minimal energy consumption, minimum add acceleration. On the basis of the traditional time optimal problem, it puts forward 4-3-4 polynomial interpolation trajectory planning algorithm based on particle swarm optimization, according to comprehensive indices such as time, energy, and acceleration. The three joint manipulator trajectory planning was simulated based on MATLAB. The results prove the effectiveness of the muhi-objective optimization process and the energy consumption function.

关 键 词：机械臂轨迹规划 多项式插值 PSO 最小能耗 最小加加速度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]