基于改进萤火虫算法的机械臂时间最优轨迹规划  

Time Optimal Trajectory Planning of Manipulator Based on Improved Firefly Algorithm

作　　者：郭鑫鑫 薄瑞峰[1] 贾竣臣 李瑞琴[1] GUO Xinxin;BO Ruifeng;JIA Junchen;LI Ruiqin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《机械设计与研究》2021年第3期55-59,共5页Machine Design And Research

基　　金：国家自然科学基金面上项目(51275486);山西省自然科学基金面上项目(201901D111128)。

摘　　要：以国产某型号六轴工业机器人为研究对象,针对六轴机器人关节空间的轨迹规划问题,提出了一种基于改进萤火虫算法的时间最优3-5-3多项式插值轨迹规划算法。首先,由给定的机器人末端路径点求逆运动学得到关节空间下的路径插值点。然后,在速度约束条件下,利用萤火虫算法对插值结果进行优化,使得机器人具有最优运行时间。通过与传统萤火虫算法对比,改进后算法的收敛速度和精度都有明显改善。最后,应用MATLAB软件仿真出机械臂运动位置、速度、加速度曲线,并用实体机器人验证。结果表明,该方法使得机械臂具有更短的运行时间,稳定性更高。Based on a domestically-made 6-DOF industrial robot as a reach object,this paper proposes a time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm reliant on the improved firefly algorithm for the trajectory planning of the six-axis robot in the joint space.Firstly,the path interpolation points in joint space are obtained by inverse kinematics of the given robot end path points.Then,with the condition of speed constraint,the result of polynomial interpolation is optimized by the firefly algorithm so that the robot has the best running time.Compared with the traditional firefly algorithm,the convergence speed and accuracy of the improved algorithm are significantly improved.Finally,MATLAB software will be applied to simulate the motion position,velocity and acceleration curve of the manipulator,and the physical robot to verify the function.The results show that this method enables the robot arm to have a shorter running time and higher stability.

关 键 词：六自由度机械臂 轨迹规划 萤火虫算法 时间最优 多项式插值 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]