基于粒子群算法的工业机器人多目标最优轨迹规划  

Multi objective optimal trajectory planning of industrial robot based on particle swarm optimization

作　　者：袁锦涛 刘军[1,2] 邹树梁[1,2] YUAN Jintao;LIU Jun;ZOU Shuliang(School of Mechanical Engineering,University of South China,Hunan Hengyang 421001,China;Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities,University of South China,Hunan Hengyang 421001,China)

机构地区：[1]南华大学机械工程学院,湖南衡阳421001 [2]南华大学核设施应急安全技术与装备湖南省重点实验室,湖南衡阳421001

出　　处：《工业仪表与自动化装置》2021年第5期73-79,93,共8页Industrial Instrumentation & Automation

基　　金：国家国防基础科研项目(JCKY2019403D003);湖南省教育厅科学研究项目(20B497)。

摘　　要：轨迹规划是机器人运动控制的基础,考虑以时间、能耗和脉动三方面为多目标最优,对工业机器人AUBO-i10的轨迹规划问题进行研究。基于D-H法建立机器人正运动学方程,并仿真验证正运动学方程的正确性,同时利用蒙特卡洛法对机器人工作空间仿真分析。针对运行时间、能量消耗和轨迹脉动多目标综合最优问题,根据五次多项式插值方法,在保证运动学约束下,提出多目标粒子群算法(particle swarm optimization,PSO)对机械臂轨迹规划进行优化,并进行仿真分析。仿真结果表明,提出的五次多项式插值方法在准确地构造平滑轨迹的同时,又能通过粒子群算法完成运动学约束下的多目标优化,得到理想的Pareto分布。最后,构造目标函数,获得符合要求的优化轨迹,解决了运行时间过长,能量消耗过多和脉动冲击过大的问题,从而保证机器人高效运动。Trajectory planning is the basis of robot motion control.In this paper,the trajectory planning of AUBO-i10 is studied in this paper,which is based on the multi-objective optimization of time,energy consumption and pulsation.The forward kinematics equation of robot is established based on D-H method,and the correctness of the positive kinematics equation is verified by simulation.At the same time,the workspace simulation analysis of robot is made by Monte Carlo method.According to the five order polynomial interpolation method,the particle swarm optimization(PSO)is proposed to optimize the trajectory planning of the manipulator,and the simulation analysis is carried out.The simulation results show that the proposed method can construct smooth trajectory accurately,and can optimize the multi-objective under kinematic constraints by particle swarm optimization algorithm,and get the ideal Pareto distribution.Finally,the objective function is constructed to obtain the optimal trajectory which meets the requirements,and solves the problems of too long operation time,too much energy consumption and excessive pulsation impact,so as to ensure the robot movement efficiently.

关 键 词：工业机器人 轨迹规划 粒子群算法 多目标最优 多项式插值 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]