基于改进PSO算法的时间最优机械臂轨迹规划  

Time Optimal Manipulator Trajectory Planning Based on Improved Particle Swarm Optimization Algorithm

作　　者：李虎 刘泓滨[1] LI Hu;LIU Hong-bin(School of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650500

出　　处：《组合机床与自动化加工技术》2023年第1期29-33,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对传统机械臂轨迹规划存在效率低、智能算法易早熟和运行不稳定等问题,提出了一种以时间最优为目标,采用改进粒子群算法(PSO)对6自由度机械臂轨迹进行优化的方法。首先,在关节空间下利用机械臂正逆运动学原理获取其轨迹插值点;其次,为了使机械臂能够快速平稳地到达目标位置,采用3-5-3多项式对其轨迹进行插值;最后,使用改进PSO算法对分段多项式插值构造的轨迹进行优化,实现6自由度机械臂时间最优的轨迹规划。通过MATLAB仿真实验可以得到机械臂各个关节的加速度、速度和位置的轨迹信息,在满足机械臂运动学约束的前提下,机械臂完成整段轨迹所用的时间从3 s减少到2.1 s,整体运行时间相对于PSO算法优化前缩短了近30%,由此表明改进PSO算法可以有效地实现6自由度机械臂时间最优的轨迹规划。In order to solve the problems of low efficiency,premature and unstable operation of traditional manipulator trajectory planning,an improved particle swarm optimization(PSO)algorithm was proposed to optimize the trajectory of 6-DOF manipulator.Firstly,the trajectory interpolation points of the manipulator are obtained by using the forward and inverse kinematics theory in joint space.Then,in order to make the manipulator reach the target position quickly and smoothly,the 3-5-3 polynomial is used to interpolate its trajectory.Finally,the improved PSO algorithm is used to optimize the trajectory constructed by piecewise polynomial interpolation to achieve the time-optimal trajectory planning of the 6-DOF manipulator.Trajectory information of acceleration,velocity and position of each joint of the manipulator can be obtained through MATLAB simulation experiments.On the premise of satisfying kinematic constraints of the manipulator,the time taken by the manipulator to complete the entire trajectory is reduced from 3 s to 2.1 s,and the overall running time is nearly 30%shorter than that of the standard PSO algorithm.The results show that the improved PSO algorithm can effectively realize the time-optimal trajectory planning of the 6-DOF manipulator.

关 键 词：机械臂 轨迹规划 多项式插值 改进粒子群算法 混沌初始化 时间最优 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]