基于改进免疫算法的装填机械手轨迹规划  

Trajectory planning of loading manipulator based on modified immune algorithm

作　　者：王国涛 高崇仁[1] 黄江涛 田星宇 Wang Guotao;Gao Chongren;Huang Jiangtao;Tian Xingyu

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《起重运输机械》2023年第17期52-57,共6页Hoisting and Conveying Machinery

摘　　要：针对于自主设计的自动装填机械手速度和加速度会出现突变,这样会对机械手各关节造成很大的冲击;而且该机械手运行时间也没有达到最优,这样会使得整个自动装填系统工作时间较长。免疫算法是基于免疫系统运行机理衍生出来的智能算法,接下来对免疫算法进行改进,并对比改进前后的免疫算法性能,最后基于改进后的免疫算法结合七次多项式插值计算方法对装填机械手的运行轨迹进行规划。对该机械手轨迹规划的过程中,通过Matlab进行仿真实验并得到仿真结果。仿真实验结果表明,改进后的免疫算法向着最优粒子靠近的速度更快,效率更高,且各关节的速度、加速度随时间变化曲线平滑,完成轨迹的时间明显变少了。Considering that the sudden change of the speed and acceleration of the self-designed automatic loading manipulator will have a great impact on all joints of the manipulator;Moreover,the running time of the manipulator has not been optimized,which leads to a long working time of the whole automatic loading system.Immune algorithm is an intelligent algorithm based on the operating mechanism of immune system.The immune algorithm was modified,and the performance of the immune algorithm before and after the modification was compared.Finally,the trajectory of the loading manipulator was planned based on the modified immune algorithm and the septic polynomial interpolation calculation method.In the process of trajectory planning of the manipulator,the simulation experiment was carried out by Matlab and the simulation results were obtained.The simulation results show that the improved immune algorithm is faster and more efficient to approach the optimal particle,and the curves of velocity and acceleration of each joint with time are smooth,and the time to complete the trajectory is obviously reduced.

关 键 词：装填机械手 轨迹规划 七次多项式 改进免疫算法 Matlab仿真实验 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]