基于改进鸡群优化算法的机械臂轨迹规划  

Trajectory Planning of Manipulator Based on Improved Chicken Swarm Optimization

作　　者：马龙 李长勇[1] 司庆 MA Long;LI Changyong;SI Qing(School of Mechanical Engineering,Xinjiang University,Urumqi 830017,China)

机构地区：[1]新疆大学机械工程学院,乌鲁木齐830017

出　　处：《组合机床与自动化加工技术》2023年第12期61-66,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：新疆维吾尔自治区自然科学基金项目(2021D01C052)。

摘　　要：针对机械臂在工厂中的工作效率和运动中冲击造成的振动与磨损问题,提出了一种基于改进鸡群优化算法的机械臂轨迹规划方法。通过关节空间中位置与时间的序列,使用五次B样条函数构造关节空间插值曲线,把时间和冲击视为优化目标,把机械臂关节的角速度、角加速度、角加加速度为约束,对鸡群优化算法中公鸡、母鸡、小鸡的位置更新方法进行改进优化,并引入变异操作,得到改进后的鸡群优化算法,采用改进后的鸡群优化算法对目标进行优化。仿真实验表明,采用改进鸡群优化算法优化后的机械臂运动时间降低,并且机械臂各个关节在运动过程中的最大冲击大大降低,可以有效提升工作效率,降低振动和运动磨损,延长机械臂使用寿命。A manipulator trajectory planning method based on an improved swarm optimization is proposed to address the efficiency of the manipulator in the factory,vibration and wear caused by impact in motion.Based on the sequence of position and time in joint space,the joint space interpolation curve was constructed using quintic B-spline function.The time and impact were regarded as optimization objectives,and the angular velocity,angular acceleration and angular acceleration of the joint of the manipulator were taken as constraints.The position updating method of the rooster,hen and chicken in the improved chicken swarm optimization was improved and optimized,and mutation operation was introduced.The improved chicken swarm optimization is obtained,and the improved chicken swarm optimization is used to optimize the target.The simulation experiment shows that the movement time of the manipulator is reduced after the optimization of the improved chicken swarm optimization,and the maximum impact of each joint of the manipulator is greatly reduced in the process of movement,which can effectively improve the working efficiency,reduce vibration and kinematic wear,and extend the service life of the manipulator.

关 键 词：机械臂 轨迹规划 鸡群优化算法 五次B样条 

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]