摘要
对三次元送料机械手在满足作业要求下进一步提高效率进行了研究,提出了以执行时间最优为目标的轨迹规划和优化。采用多亲遗传算法与B样条曲线相结合的方式进行轨迹规划和优化,建立了机械手单次作业运行轨迹的时间最短优化模型,并以关节点速度、关节加速度、关节冲击作为优化约束。选取11个关键点对其进一步仿真和实验,其仿真结果表明,该优化方法在满足作业要求的前提下能够提高工作效率。在实验台上对算法进行测试,其实验结果与仿真结果较为一致。该算法对三次元送料机械手的轨迹规划研究具有一定的意义。
The three-dimensional feeding manipulator is studied to improve working efficiency after meeting the requirements of the operation,and the trajectory planning and optimization with the optimal execution time are put forward. The trajectory is planned by B-spline curve and the execution time of manipulator working is optimized by multi-parent genetic algorithm. The optimization model of shortest time of the manipulator is established once a time,which takes joint angular velocity,joint acceleration and joint impact as the optimal constraint. To test the model,some simulation and experiment are conducted by 11 key trajectory points,and the simulation result show that the optimization method can improve the working efficiency under the premise of satisfying the job requirement. The algorithm is verified with test-bed,it shows that the experiment result is consistence with the simulation result. This method has a significance of the study on the trajectory planning of the three dimensional feeding manipulator.
作者
熊征伟
Xiong Zhengwei(Department of Mechanical and Electrical Engineering, Sichuan Vocational College of Information Technology, Guangyuan 628017 , China)
出处
《机械传动》
CSCD
北大核心
2018年第5期125-128,166,共5页
Journal of Mechanical Transmission
基金
教育部教育管理信息中心(JYB-EMIC-15011)
四川省教育厅资助项目(17ZB0387)
关键词
B样条
多目标遗传
轨迹优化
送料机械手
B - spline Multi - objective genetic
Trajectory optimization
Feeding manipulator
