基于改进麻雀算法的机械臂时间最优轨迹规划  

Time optimal Trajectory Planning for Robotic Arms Based on Improved Sparrow Algorithm

作　　者：祁易慜 张志安[1] QI Yimin;ZHANG Zhi’an(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械与电子》2024年第12期71-80,共10页Machinery & Electronics

摘　　要：针对一维Logistic混沌映射优化后的麻雀算法(ISSA)在进行水果采摘机械臂时间最优轨迹规划时,具有维度单一性和领导者更新策略局限性,算法可能过早陷入局部最优解的问题,提出多策略改进麻雀算法(MISSA),以提高工作效率。首先对机械臂进行运动学分析,然后在ISSA算法基础上引入二维Logistic混沌映射优化种群分布,并通过蝴蝶算法优化麻雀种群迭代策略得到改进后的麻雀算法以获得全局最优解,从而优化353多项式插值法建立的机械臂关节空间运动轨迹,在满足运动学约束条件的情况下输出最优时间,并将轨迹规划的结果与GA、PSO和ISSA算法进行比较。最终实验得到的MISSA算法的运动学曲线平滑无突变,关节运行时间减少46.6%,并且相较于GA、PSO和ISSA算法,MISSA算法在收敛速度和精度上明显提升,证明了改进麻雀算法的有效性。To address the issues of dimensional singularity and limited leader update strategies in the Improved Sparrow Search Algorithm(ISSA)optimized by one dimensional Logistic chaotic mapping for time optimal trajectory planning of fruit picking robotic arms,which may cause premature convergence to local optima,a Multi strategy Improved Sparrow Search Algorithm(MISSA)is proposed to enhance work efficiency.Initially,a kinematic analysis of the robotic arm is conducted.Then,based on the ISSA,a two dimensional Logistic chaotic mapping is introduced to optimize the population distribution,and the sparrow population iteration strategy is improved using the Butterfly Algorithm to obtain a globally optimal solution.Consequently,the motion trajectory of the robotic arm joint space constructed by the 353 polynomial interpolation method is optimized.By satisfying the kinematic constraints,the optimal time output is achieved.The trajectory planning results are compared with those obtained using GA,PSO,and ISSA algorithms.The experimental results show that the MISSA algorithm produces smooth kinematic curves without abrupt changes,reduces joint operation time by 46.6%,and significantly improves convergence speed and accuracy compared to the GA,PSO,and ISSA algorithms,thereby demonstrating the effectiveness of the improved sparrow algorithm.

关 键 词：机械臂 轨迹规划 改进麻雀算法 时间最优 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]