基于原子轨道搜索算法的6自由度装配机器人轨迹规划  

Trajectory Planning of a 6-DOF Assembly Robot Based on the Atomic Orbit Search Algorithm

作　　者：黄德启[1] 吴健辉 Huang Deqi;Wu Jianhui(School of Electrical Engineering,Xinjiang University,Urumqi 830046,China)

机构地区：[1]新疆大学电气工程学院,新疆乌鲁木齐830046

出　　处：《机械传动》2023年第12期34-39,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51468062)。

摘　　要：针对6自由度装配机器人多目标优化和轨迹规划问题,首先,将原子轨道搜索(Atomic Orbit Search,AOS)算法融入到多目标优化中,构建了时间、能耗和冲击的多目标优化函数;其次,轨迹规划采用路径点插值非均匀有理B样条曲线的方法,使用AOS算法测定原子的结合态和结合能,并确定原子中能级最低的候选解,输出最优的电子位置,优化了Pareto取值集合空间,获得多目标优化后的轨迹曲线;最后,通过Matlab仿真验证了所提方法的有效性。结果表明,结合AOS算法优化后的轨迹规划方法能保证装配机器人按最优路线运行,具有一定的工程应用价值。Aiming at the multi-objective optimization and trajectory planning problems of six-degree-of-freedom assembly robots,firstly,the atomic orbit search(AOS)algorithm is incorporated into the multi-objective optimization to construct the multi-objective optimization functions of time,energy consumption and shock.Secondly,the trajectory planning adopts the method of path point interpolation non-uniform rational B-spline curve,uses the AOS algorithm to determine the binding state and the binding energy of atoms,determines the candidate solution with the lowest energy level in the atom,outputs the optimal electron position,optimizes the Pareto value set space,and obtains the multi-objective optimized trajectory curve.Finally,the effectiveness of the proposed method is verified by the Matlab simulation.The results show that the trajectory planning method combined with the AOS algorithm can ensure that the assembly robot runs in the optimal route,which has certain engineering application value.

关 键 词：多目标优化 轨迹规划 AOS算法 非均匀有理B样条曲线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]