基于模拟退火法-QUBO模型的协作机械臂轨迹规划  

Trajectory Planning of Cooperative Manipulator Based on Simulated Annealing-QUBO Model

作　　者：陈沈杰 钱炳锋[1] 张蕾[1] 王利 CHEN Shenjie;QIAN Bingfeng;ZHANG Lei;WANG Li(School of Machine Engineering,Shanghai Dianji University,Shanghai 201307,China)

机构地区：[1]上海电机学院机械学院,上海201307

出　　处：《组合机床与自动化加工技术》2025年第2期87-91,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：对协作机械臂轨迹规划中的高效性进行研究,提出了一种基于模拟退火法-QUBO(quadratic unconstrained binary optimization,二次无约束二进制优化)模型的协作机械臂轨迹规划。以UR5协作机械臂为研究对象,通过设置协作机械臂可达空间中的必经点,建立了轨迹规划函数,同时以经过所有必经点的路径、关节冲击和能耗最小化为目标,利用所提出的算法模型进行求解,并对折线路段轨迹采用五次多项式插值轨迹规划。实验结果表明,所提出的方法能够减少路径、关节冲击和能耗,提出的算法模型可以有效构建协作机械臂平滑轨迹,为协作机械臂的高效灵活运动提供了一种创新的轨迹规划,具有广泛的潜在应用前景。The efficiency of trajectory planning of cooperative manipulator is studied,and a trajectory planning of cooperative manipulator based on simulated annealing-QUBO(quadratic unconstrained binary optimization) model is proposed.Taking the UR5 cooperative manipulator as the research object,the trajectory planning function is established by setting the necessary points in the reachable space of the cooperative manipulator.At the same time,the proposed algorithm model is used to solve the problem with the goal of minimizing the path,joint impact and energy consumption passing through all necessary points,and the fifth-order polynomial interpolation trajectory planning is used for the broken line segment trajectory.The experimental results show that the proposed method can reduce the path,joint impact and energy consumption.The proposed algorithm model can effectively construct the smooth trajectory of the cooperative manipulator,which provides an innovative trajectory planning for the efficient and flexible movement of the cooperative manipulator and has a wide range of potential applications.

关 键 词：协作机械臂 模拟退火法 QUBO 轨迹规划 

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]