工业机器人时间-冲击最优轨迹规划  

Time-impact optimal trajectory planning for industrial robots

作　　者：胡杰 李先祥[1] 欧道江 肖红军[1] HU Jie;LI Xian-xiang;OU Dao-jiang;XIAO Hong-jun(School of Mechatronic Engineering and Automation,Foshan University,Foshan 528225,China;Foshan Institute of Intelligent Equipment Technology,Foshan 528225,China)

机构地区：[1]佛山科学技术学院机电工程与自动化学院,广东佛山528225 [2]佛山智能装备技术研究院,广东佛山528225

出　　处：《佛山科学技术学院学报（自然科学版）》2021年第3期11-15,共5页Journal of Foshan University(Natural Science Edition)

摘　　要：提出了一种基于改进遗传算法的时间-冲击最优轨迹规划算法,所提算法采用五次多项式插值方法对轨迹规划进行连续性控制,并引入海明距离和欧氏距离对遗传算法的交叉和变异策略进行改进。仿真结果表明,所提算法性能更优,能够更好地规划出时间-冲击最优轨迹。A time-impact optimal trajectory planning algorithm for industrial robots based on an improved genetic algorithm is proposed.The proposed algorithm uses a fifth-order polynomial interpolation method to continuously control the trajectory planning,and crossover and mutation strategies of the genetic algorithm are improved by introducing Hamming distance and Euclidean distance.The simulation results show that the performance of the proposed algorithm is better,and it can better plan the time-impact optimal trajectory.

关 键 词：轨迹规划 时间-冲击最优 海明距离 欧式距离 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]