摘要
针对喷胶机器人时间-冲击等多目标优化的轨迹规划问题,提出基于时间-冲击最优的轨迹优化算法,优化喷胶机器人的运行时间和冲击(加加速度)两个效果相反的目标。采用4-5-6多项式插值曲线作为关节空间内的插值轨迹,确保机器人运动的连续性和平稳性;在关节角速度、角加速度和角加加速度的运动学约束下,利用多目标粒子群优化(multi-objective particle swarm optimization,MOPSO)算法,以喷胶机器人的运行时间和冲击为目标对其进行轨迹优化。仿真结果表明,采用MOPSO算法对4-5-6分段多项式插值结果进行优化,提高了机器人的轨迹精度,减少了机器人运动过程中的冲击,有效缩短了机器人的作业时间。
For the trajectory planning problem of multi-objective optimization such as time-impact of the spraying robot,a time-impact optimal trajectory optimization algorithm based on time-impact optimization was proposed to optimize the two objectives of the spraying robot with opposite effects of running time and impact(plus acceleration).A 4-5-6 polynomial interpolation curve was used as the interpolation trajectory in the joint space to ensure the continuity and smoothness of robot motion;under the kinematic constraints of joint angular velocity,angular acceleration and angular acceleration,the multi-objective particle swarm optimization(MOPSO)algorithm was used to optimize the trajectory of the glue spraying robot with objectives of running time and impact.The simulation results show that the optimization of the 4-5-6 segmented polynomial interpolation results using the MOPSO algorithm improves the trajectory accuracy of the robot,reduces the shocks during the robot motion,and effectively shortens the robot operation time.
作者
胡俊辉
孙博
孟婥
张豪
孙以泽
HU Junhui;SUN Bo;MENG Zhuo;ZHANG Hao;SUN Yize(College of Mechanical Engineering,Donghua University,Shanghai 201620,China)
出处
《东华大学学报（自然科学版）》
CAS
北大核心
2022年第1期72-78,共7页
Journal of Donghua University(Natural Science)
基金
国家重点研发计划项目(2018YFB1308800)
福建省“百人计划”项目(20180409)。
关键词
喷胶机器人
轨迹优化
4-5-6多项式插值
时间-冲击
多目标粒子群优化算法
glue spraying robot
trajectory optimization
4-5-6 polynomial interpolation
time-impact
multi-objective particle swarm optimization algorithm
