基于NSGA-Ⅱ的工业机器人多目标点轨迹跟踪优化研究  

Research on Multi-Target Point Trajectory Tracking Optimization of Industrial Robots Based on NSGA-Ⅱ

作　　者：高乔 GAO Qiao(Intelligent Manufacturing Engineering,Guangxi Vocational and Technical College of Manufacture Engineering,Nanning 530105)

机构地区：[1]广西制造工程职业技术学院智能制造工程学院,南宁530105

出　　处：《现代制造技术与装备》2024年第8期180-183,共4页Modern Manufacturing Technology and Equipment

摘　　要：针对工业机器人在轨迹跟踪中存在的建模误差与收敛性问题,提出一种基于非支配排序遗传算法Ⅱ(Non-dominatedSortingGeneticAlgorithmsⅡ,NSGA-Ⅱ)的工业机器人多目标点轨迹跟踪优化方法。首先,系统概述工业机器人多目标点跟踪控制系统的需求及挑战,详细分析工业机器人动力学模型。其次,研究工业机器人轨迹规划,提出基于三次多项式插值的轨迹规划模型。再次,提出基于NSGA-Ⅱ多目标优化算法的工业机器人轨迹跟踪控制优化方法。最后,通过仿真分析,验证该方法的有效性。结果表明,相较于传统的控制方法,该方法在多目标跟踪方面表现出更好的性能和精度,提高了工业机器人在生产线上的实际应用效果。Aiming at the problems of modeling error and convergence in trajectory tracking of industrial robots,an optimization method of multi-target point trajectory tracking of industrial robots based on Non-dominated Sorting Genetic AlgorithmsⅡ(NSGA-Ⅱ)is proposed.Firstly,the requirements and challenges of multi-target point tracking control system for industrial robots are summarized,and the dynamic model of industrial robots is analyzed in detail.Secondly,trajectory planning of industrial robots is studied,and a trajectory planning model based on cubic polynomial interpolation is proposed.Thirdly,an optimization method of industrial robot trajectory tracking control based on NSGA-Ⅱmulti-objective optimization algorithm is proposed.Finally,the effectiveness of the proposed method is verified by simulation analysis.The results show that compared with the traditional control method,this method has better performance and accuracy in multi-target tracking,and improves the practical application effect of industrial robots in the production line.

关 键 词：工业机器人 多目标点 轨迹跟踪优化 非支配排序遗传算法Ⅱ 三次多项式插值 

分 类 号：TP242.2[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]