| 许永桥1， 倪艳光1*， 潘若鸣2， 刘玉2， 王恒迪1.基于IGA的机械臂时间最优轨迹规划[J].轻工机械,2023,41(2):66-71 |
| 基于IGA的机械臂时间最优轨迹规划 |
| Time Optimal Trajectory Planning of Manipulator Based on IGA |
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| DOI：10.3969/j.issn.1005 2895.2023.02.010 |
| 中文关键词: 机械臂 三次B样条 时间最优 改进型遗传算法 |
| 英文关键词:manipulator cubic B spline time optimal IGA（Improved Genetic Algorithm） |
| 基金项目:山东省重点研发计划（2020CXGC011003）。 |
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| 中文摘要: |
| 针对传统机械臂轨迹规划效率较低的问题，课题组提出了对传统遗传算法初始种群的选取及种群的变异策略改进的方法。该方法以三次B样条插值曲线作为轨迹规划的基础，以各关节运动角速度、角加速度、角加加速度作为运动约束，使用改进型遗传算法（improved genetic algorithm，IGA）进行时间优化，可以得到满足运动约束条件的时间最优运动轨迹。课题组以自主研发的QFB140机械臂作为研究对象，采用改进型D H参数进行标识，并导入MATLAB进行仿真。结果表明：IGA在时间优化上有了较大提升，进一步实现了时间最优轨迹规划，提高了工作的效率。 |
| 英文摘要: |
| Aiming at the low efficiency of traditional manipulator trajectory planning, an improvement on the method of traditional genetic algorithm to select the initial population and the population mutation strategy was proposed. With cubic B spline interpolation curve as the basis of trajectory planning, the motion speed, acceleration and jerk of each joint were used as motion constraints, and an improved genetic algorithm (IGA) was adopted for time optimization to obtain the time optimal motion trajectory that satisfied the kinematic constraints. Taking the self developed QFB140 manipulator as the research object, the improved D H parameters were used for identification and imported it into MATLAB for simulation. The results show that the IGA has a great improvement in time optimization, and further realizes the time optimal trajectory planning, and improves work efficiency. |
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