基于NSGA-II的机械臂最优时间-能量-冲击轨迹规划  

Time-energy-jerk Optimal Trajectory Planning of Manipulators Based on NSGA-II

作　　者：陆佳皓 季肖枫 姜伯晨 由佳翰 马建忠 Lu Jiahao;Ji Xiaofeng;Jiang Bochen;You Jiahan;Ma Jianzhong(Jiangsu Shipping College,Nantong,Jiangsu 226010,China;College of Ocean Science and Engineering,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]江苏航运职业技术学院,江苏南通226010 [2]上海海事大学海洋科学与工程学院,上海201306

出　　处：《机电工程技术》2024年第8期115-119,共5页Mechanical & Electrical Engineering Technology

基　　金：南通市社会民生科技计划项目(MSZ2022166);江苏航运职业技术学院校级科技项目(HYKY/2021B03);南通市社会民生科技计划项目(MSZ2023007)。

摘　　要：针对6R机械臂最优轨迹优化问题,提出一种机械臂最优轨迹优化方法。将笛卡尔空间内的机械臂末端运动轨迹离散为时间-位姿插值点并通过机器人逆运动学转换为机械臂关节空间内的时间-位置序列,利用5次非均匀B样条函数构造关节插值轨迹。使用B样条函数和各阶导数的曲线控制顶点代替机械臂的运动约束,引入NSGA-II对机械臂运行时间、能量消耗和关节冲击为目标进行优化,得到Pareto最优解分布。可通过实际需求,构造归一权重函数,从Pareto解中挑选期望解,获得高阶连续的关节运动轨迹。以ABBIRB120型6R机械臂为例,进行了轨迹优化的仿真实验,有效地生成了高阶连续、平滑无突变的最优轨迹,具有更好的性能和优越性。为6R机械臂的轨迹优化提供了一种新的思路和方法。Aiming at the multi-objective trajectory optimization problem of optimal joint motion time,energy and jerk of 6R manipulator,an optimal trajectory optimization method of manipulator is proposed based on the interpolation of the joint trajectory of manipulator based on the fifth-order non-uniform B-spline function.The motion trajectory of the end of the manipulator in Cartesian space is discretized into time-pose interpolation points,which are converted into the time-position sequence of each joint of the manipulator through inverse kinematics.The joints’trajectory are constructed with the 5th-order non-uniform B-spline function.The B-spline function and the curve control vertices of each derivative are used to replace the motion constraints of the manipulator.NSGA-II is introduced to optimize the manipulator’s running time,energy consumption and joint jerk and the perfect Pareto solutions are got.The simulation of ABB IRB1206R manipulator,the results show that the joint trajectory and derivative curves of each order using the 5th degree B-spline function interpolation are smooth without sudden change,and NSGA-II can realize the time-energy-jerk under the constraints of manipulator motion.These optimal multi-objective optimization results in the ideal Pareto solution distribution.Finally,a normalized weighting objective function can be constructed according to actual requirements,and the desired solution can be selected from the pareto solution to obtain a high-order continuous joint motion trajectory.

关 键 词：机械臂 非均匀B样条 轨迹规划 NSGA-II:归一权重函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]