基于改进粒子群算法的六自由度工业机器人轨迹规划  

Trajectory planning of 6-DOF industrial robot based on improved particle swarm optimization algorithm

作　　者：苏俊[1] 熊瑞平[1] 温记明 李云秋 谭平 SU Jun;XIONG Ruiping;WEN Jiming;LI Yunqiu;TAN Ping(School of Mechanical Engineering,Sichuan University,Chengdu 610041,CHN)

机构地区：[1]四川大学机械工程学院,四川成都610041

出　　处：《制造技术与机床》2022年第10期38-45,共8页Manufacturing Technology & Machine Tool

基　　金：四川省重点研发项目“智能涂装产线关键技术的开发与集成”(2020YFG0119);四川省智能制造与机器人重大专项课题“工业机器人成套装备研制与应用”(2019ZDZX0019);宜宾-四川大学战略合作科技创新研发项目“基于六自由度工业机器人的智能打磨系统研发”(2020CDYB-11)。

摘　　要：针对工件打磨工况,设计建立用于打磨的机器人运动学模型,规划机器人运动学轨迹,通过改进粒子群算法优化轨迹曲线,减少机器人运行时间,提高机器人工作效率。首先建立打磨工业机器人空间运动学模型,计算目标点从笛卡尔空间转换到关节空间的逆解,在关节空间中利用“三次-五次-三次”三段多项式曲线对所求逆解进行轨迹规划,以轨迹运动时间最短作为优化目标。利用融合免疫操作的改进粒子群算法对轨迹曲线进行优化,将改进算法的优化结果与传统粒子群算法进行对比;改进后的新算法改善了粒子群算法易陷入局部最优的问题,适应度结果更好,算法效果更佳。For dealing with grinding,the robot kinematics model is designed and established,the robot trajectory is planned,and the trajectory curve is optimized by an improving particle swarm optimization algorithm to reduce the running time and improve the working efficiency of the robot.Firstly,this paper establishes the spatial kinematics model of the industrial robot for polishing,calculates the joint space inverse solution position corresponding to the target pose points in Cartesian space,uses the 3-5-3 three segment polynomial curve to plan the trajectory of the inverse solution points in joint space,and takes the shortest trajectory motion time as the optimization goal.By using the improved particle swarm optimization algorithm with immune operation to optimize the trajectory curve,the optimization results of the improved algorithm are compared with the traditional particle swarm optimization algorithm,and it is found that the improved new algorithm can better avoid falling into local optimization,the fitness result is better,and the algorithm effect is better.

关 键 词：机器人 轨迹规划 粒子群算法 时间最优 免疫算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]