基于改进萤火虫算法的冗余机器人轨迹规划  

Trajectory Planning for Redundant Robot Based on Improved Glowworm Swarm Optimization Algorithm

作　　者：郑雪芳[1] 林意[2] ZHENG Xue-fang;LIN Yi(School of Electronic and Information Engineering,JiangSu Vocational College of Information Technology,Wuxi Jiangsu 214153,China;School of Digital and Mediea,Jiangnan University,Wuxi Jiangsu 214122,China)

机构地区：[1]江苏信息职业技术学院电子信息工程学院,江苏无锡214153 [2]江南大学数字媒体学院,江苏无锡214122

出　　处：《组合机床与自动化加工技术》2019年第12期80-84,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对冗余机器人任务空间内的轨迹规划,提出了一种基于改进萤火虫算法的闭环伪逆法。首先,建立了冗余机器人的运动学与动力学模型,获得了关节角速度与末端执行器位姿间的数学关系。进而,引入闭环伪逆法求解出关节角,并采用改进萤火虫算法来弥补闭环伪逆法的不足。同时,采用广义反向学习机制来克服传统萤火虫算法中全局开采能力不足和容易陷入局部最优值的问题,提高其搜索性能。最后,以模块化肩腕关节偏置的SRS结构的冗余机器人为对象,通过三个仿真算例验证了文中所提方法的有效性。结果表明:该方法能够有效提升冗余机器人闭环伪逆法求解的能力,具有一定的工程参考价值。This article proposes a closed-loop pseudoinverse method based on an improved glowworm swarm optimization algorithm for a redundant robot. Firstly, the kinematic model and dynamical model of the redundant robot have been analyzed. The mathematical relation of the joint velocities and pose of the end-effector has been obtained. Then, we introduced the closed-loop pseudoinverse method to calculate the joints of redundant robot. And an improved glowworm swarm optimization algorithm is used to offset the flaw of the closed-loop pseudoinverse method. Meanwhile, a generalized opposite learning mechanism is used to overcome the problem of insufficient global mining ability and easily falling into local optimal value in traditional glowworm swarm optimization algorithm, and improve its performance. Lastly, we take the redundant robot of SRS structure with modular shoulder and wrist joint bias as the object. Three simulation examples are conducted to verify the effectiveness of the proposed method. All the results show that the proposed method in this paper can effectively improve the solving ability of the closed loop pseudo-inverse method of redundant robots, and has certain engineering reference value.

关 键 词：冗余机器人 轨迹规划 萤火虫算法 

分 类 号：TH165[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]