基于改进梯度投影算法的十自由度移动机械臂轨迹规划研究  

Research on trajectory planning of 10 DOF mobile manipulator based on improved gradient projection algorithm

作　　者：魏丽君[1] 吴海波[1] 刘海龙[1] WEI Lijun;WU Haibo;LIU Hailong(Hunan Railway Professional Technology College,Zhuzhou,Hunan 412001,China)

机构地区：[1]湖南铁道职业技术学院,湖南株洲412001

出　　处：《自动化与仪器仪表》2023年第5期249-252,共4页Automation & Instrumentation

基　　金：湖南省教育厅科学研究青年项目(19B379)。

摘　　要：以一款十自由度移动机械臂为研究对象,针对其轨迹规划存在的关节加速度超限等问题,提出一种改进的梯度投影算法,通过极值法求比例因子,在传统的梯度投影算法中,引入可优化度和自运动限制因子,并推导和提出了考虑关节加速度约束的新算法。对照逆解算法和改进梯度投影算法的仿真效果,验证了新算法的有效性,最后将该算法应用在十自由度的移动机械臂上进行了实例运动测试,测试结果满足设计要求,该成果将实际应用在工程项目中。This paper takes a 10 DOF mobile manipulator as the research object.Aiming at the problem of joint acceleration overrun in its trajectory planning,an improved gradient projection algorithm is proposed.The scale factor is calculated by the extreme value method.In the traditional gradient projection algorithm,the optimization degree and the self motion limitation factor are introduced,and a new algorithm considering joint acceleration constraint is derived and proposed.Compared with the simulation results of the inverse solution algorithm and the improved gradient projection algorithm,the effectiveness of the new algorithm is verified.Finally,the algorithm is applied to a mobile manipulator with ten degrees of freedom for motion test.The test results meet the design requirements,and the results will be applied to engineering projects.

关 键 词：改进梯度投影算法 十自由度移动机械臂 轨迹规划 关节加速度约束 可优化度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]