摘要
以多臂型铸造机器人中的六自由度机械臂为研究对象,在关节空间中采用4-3-4多项式插值的方法对机械臂进行轨迹规划设计。在速度约束条件下,运用杂交算法对插值结果进行优化,进而得到机械臂运行的最优运动时间。相比于传统粒子群算法,杂交算法具有较高的收敛精度与收敛速度。通过MATLAB软件仿真得到了机械臂运动过程中各关节运动位置、速度、加速度曲线。结果表明,杂交算法可以准确地实现速度约束下时间最优轨迹规划。
With the 6-DOF manipulators of the multi-arm casting robot as the research object,the trajectory planning is designed by the 4-3-4 polynomial interpolation method in the joint space. Under the constraint of velocity,the breed algorithm is used to optimize the interpolation results to obtain the optimal motion time of manipulator. Contrast to the particle swarm optimization,the breed algorithm has the higher precision and more rapid speed in the convergence procedure. By means of the Matlab,the movement position,velocity and acceleration curve of each joint of the dual arm robot are obtained. The consequence shows this method can accurately realize the time optimal trajectory planning at the speed constraint.
作者
于瑞
王成军
郭永存
张玉平
Yu Rui;Wang Chengjun;Guo Yongcun;Zhang Yuping(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)
出处
《机械传动》
CSCD
北大核心
2018年第7期55-60,共6页
Journal of Mechanical Transmission
基金
安徽省科技重大专项项目(16030901012)
关键词
六自由度机械臂
杂交算法
轨迹规划
多项式插值
速度约束
6-DOF manipulator
Breed algorithm
Trajectocy planning
Polynomial interpolation
Speed constraint
