基于TCSPSO算法的机械臂运动时间最优轨迹规划  

Time-optimal trajectory planning of manipulator based on TCSPSO algorithm

作　　者：许家伟 李磊[1] 汪建华 张雅君 覃杰伟 刘旭珍 XU Jiawei;LI Lei;WANG Jianhua;ZHANG Yajun;QIN Jiewei;LIU Xuzhen(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212000,China;Guangzhou Shipyard International Company Limited,Guangzhou 510000,China;Southern Environment Corporation Linited,Guangzhou 510000,China)

机构地区：[1]江苏科技大学机械工程学院,镇江212000 [2]广船国际有限公司,广州510000 [3]南方环境有限公司,广州510000

出　　处：《现代制造工程》2025年第3期69-76,83,共9页Modern Manufacturing Engineering

基　　金：工信部高技术船舶科研项目(CBG01N23-03-02);国家科技部重点研发计划项目(2022YFB3404800)。

摘　　要：目前,在船舶制造工业中,采用机械臂焊接作业已逐渐取代传统人工作业,为了提高机械臂的工作效率和稳定性,提出了一种基于终端交叉和导向的扰动粒子群优化(Terminal Crossover and Steering-based Particle Swarm Optimization,TCSPSO)算法的机械臂运动时间最优轨迹规划方法。首先,构造5-7-5多项式插值函数,拟合机械臂关节空间中的运动轨迹,以机械臂运动时间最优为目标建立约束优化模型;然后,使用增广拉格朗日乘子法将约束优化问题转化为无约束优化问题,为了避免结果陷入局部最优,采用TCSPSO算法进行求解;最后,在MATLAB软件中进行仿真实验,得到了机械臂的最优运动时间和平滑的运动轨迹。结果表明,该方法可以有效地缩短机械臂的运动时间,保证了机械臂在运动过程中的稳定性。Currently,in the shipbuilding industry,robotic arm welding operations have gradually replaced traditional manual labor.To improve the working efficiency and stability of robotic arms,a time-optimal trajectory planning method for robotic arms based on the Terminal Crossover and Steering-based Particle Swarm Optimization(TCSPSO)algorithm was proposed.First,a 5-7-5 polynomial interpolation function was constructed to fit the motion trajectory in the joint space of the robotic arm,with the goal of optimizing the robotic arm′s motion time,and a constrained optimization model was established.Then,the Augmented Lagrange multiplier Method was applied to convert the constrained optimization problem into an unconstrained one.To avoid local optima,the TCSPSO algorithm was used to solve the problem.Finally,simulation experiments were conducted in MATLAB software,resulting in the optimal motion time and smooth trajectory of the robotic arm.The results indicate that this method can effectively shorten the motion time of the robotic arm while ensuring its stability during movement.

关 键 词：机械臂 轨迹规划 粒子群优化算法 多项式插值 增广拉格朗日乘子法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]