基于改进型粒子群算法的机械臂轨迹规划  

Trajectory Planning Method of Manipulator Based on Improved Particle Swarm Optimization Algorithm

作　　者：王炳祺 石敏[2] 朱登明[1] 李兆歆 WANG Bing-qi;SHI Min;ZHU Deng-ming;LI Zhao-xin(Institute of Computing Technology,Chinese Academy of Sciences,Beijing 100190,China;School of Control and Computer Engineering,North China Electric Power University,Beijing 102206,China)

机构地区：[1]中国科学院计算技术研究所,北京100190 [2]华北电力大学控制与计算机工程学院,北京102206

出　　处：《组合机床与自动化加工技术》2022年第11期44-47,51,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点研发计划专项(2020YFB1710400)。

摘　　要：以6轴串联机械臂为研究对象,针对保持机械臂运行过程中的稳定高效问题,提出一种基于改进粒子群算法的时间最优3-5-3多项式插值轨迹规划算法。算法通过多项式插值对机械臂运动过程进行拟合,而后在关节角速度、角加速度等运动学约束条件下,利用改进型粒子群算法进行时间优化,得到各个关节的时间最优变化曲线,并在相同的条件下与模拟退火算法,遗传算法等传统算法进行比较。实验结果证明,改进型粒子群算法收敛速度更快,且在满足各个关节运行平稳的前提下,能够缩短运行时间。Taking six axis series manipulator as the research object,aiming at the problem of maintaining the stability and efficiency of the manipulator during operation,a time optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on improved particle swarm optimization algorithm is proposed.The algorithm uses polynomial interpolation to fit the motion process of the manipulator,and then uses the improved particle swarm optimization algorithm to optimize the time under the kinematic constraints such as joint angular velocity and angular acceleration,and obtains the time optimal change curve of each joint,which is compared with the traditional algorithms such as simulated annealing algorithm and genetic algorithm under the same conditions.The experimental results show that the improved particle swarm optimization algorithm has faster convergence speed,and can shorten more running time on the premise of meeting the stable operation of each joint.

关 键 词：6R机械臂 轨迹规划 多项式插值 粒子群算法 

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]