论文部分内容阅读
针对一种排爆机械手的轨迹规划问题,提出了一种时间-脉动-能量最优策略优化其运动轨迹,以减小机械手的运动时间、关节脉动和消耗能量。采用改进三次样条曲线连接路径点,保证关节始末速度、加速度可任意指定,在各关节运动约束条件下采用遗传算法对路径点之间的运动时间进行搜索优化。仿真结果表明:优化后的运动轨迹十分平滑,可以避免关节速度、加速度的突然变化,控制振动。与时间最优规化结果对比表明:该优化方法可以有效地减小关节运动的平均速度、加速度和脉动。
In order to solve the trajectory planning problem of an explosive manipulator, a time-pulse-energy optimal strategy is proposed to optimize its trajectory to reduce the manipulator’s movement time, joint pulsation and energy consumption. The improved cubic spline curve is used to connect the path points to ensure that the joint’s initial velocity and acceleration can be specified arbitrarily. The genetic algorithm is used to optimize the motion time between path points under the constraints of each joint motion. The simulation results show that the optimized trajectory is very smooth, which can avoid the sudden change of joint velocity and acceleration and control the vibration. Comparison with the results of optimal time showed that the optimization method can effectively reduce the average velocity, acceleration and pulsation of joint motion.