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Genetic-algorithm-based trajectory planning optimization method for mobile mechanical arm

A technology for mobile robotic arms, trajectory planning, and applications in instrumentation, adaptive control, control/regulation systems, etc.

Active Publication Date: 2013-08-07
WUHAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can not only improve the efficiency and tracking accuracy of the trajectory planning of the manipulator, but also solve the problem of real-time trajectory planning of the mobile manipulator, and also solve the problem of trajectory planning optimization and control of the manipulator in an uncertain environment. Optimization provides an efficient way

Method used

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  • Genetic-algorithm-based trajectory planning optimization method for mobile mechanical arm
  • Genetic-algorithm-based trajectory planning optimization method for mobile mechanical arm
  • Genetic-algorithm-based trajectory planning optimization method for mobile mechanical arm

Examples

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Effect test

Embodiment 1

[0134] An optimization method for trajectory planning of mobile manipulator based on genetic algorithm. This example figure 2 Shown is a three-degree-of-freedom mobile robotic arm consisting of a fixed link and three movable links that move in a plane. All connecting rods are connected by rotating joints, and the joint axes are perpendicular to the plane of the connecting rods.

[0135] Since the mobile robot performs tasks by moving the point E of the end effector, in order to describe the position, a coordinate system xoy is introduced, where the x axis is parallel to the base connecting rod, the coordinate origin coincides with the first joint, and the position of the end effector is represented by Coordinates (x e ,y e )express. For the convenience of description, the length of the connecting rod is specified, that is, the distance between adjacent joint axes, expressed as L 1 , L 2 and L 3 , point O, point A and point B are located on the three joint axes respecti...

Embodiment 2

[0254] An optimization method for trajectory planning of mobile manipulator based on genetic algorithm. This embodiment is a mobile mechanical arm with one degree of freedom, which is composed of a fixed link and a movable link moving in a plane. All connecting rods are connected by rotating joints, and the joint axes are perpendicular to the plane of the connecting rods.

[0255] Since the mobile robot performs tasks by moving the point E of the end effector, in order to describe the position, a coordinate system xoy is introduced, where the x axis is parallel to the base connecting rod, the origin of the coordinates coincides with the first joint, and the position of the end effector is represented by Coordinates (x e ,y e )express. For the convenience of description, the length of the connecting rod is specified as the distance between adjacent joint axes, expressed as L 1 , assuming that the connecting rod 1 fixed on the base connecting rod (connecting rod 0) is driven...

Embodiment 3

[0282] An optimization method for trajectory planning of mobile manipulator based on genetic algorithm. This embodiment is an eight-degree-of-freedom mobile robot arm, which is composed of a fixed link and eight movable links moving in a plane. All connecting rods are connected by rotating joints, and the joint axes are perpendicular to the plane of the connecting rods.

[0283] Since the mobile robot performs tasks by moving the point E of the end effector, in order to describe the position, a coordinate system xoy is introduced, where the x axis is parallel to the base connecting rod, the origin of the coordinates coincides with the first joint, and the position of the end effector is represented by Coordinates (x e ,y e )express. For the convenience of description, the length of the connecting rod is specified, that is, the distance between adjacent joint axes, expressed as L and L respectively 2 ,...,L 8 , assuming that the connecting rod 1 fixed on the base connectin...

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Abstract

The invention relates to a genetic-algorithm-based trajectory planning optimization method for a mobile mechanical arm. According to the technical scheme, the method comprises the following steps of first establishing a forward kinematic model and an inverse kinematic model of a multi-degree-of-freedom mobile mechanical arm; then fitting a joint trajectory by adopting a composite curve of a quartic polynomial mathematical model and a quintic polynomial mathematical model, and calculating solutions of the corresponding mathematical models according to a linear constraint equation; next selecting a trajectory optimization target according to the principles of shortest motion time, minimum spatial motion distance and less than or equal to maximum set joint torque of the mobile mechanical arm; and finally globally optimizing the optimization target by utilizing a genetic algorithm to obtain an optimal trajectory curve of an end actuator of the mechanical arm. According to the method, the trajectory planning efficiency and the tracking accuracy of the mechanical arm are improved, and the problems of real-time trajectory planning of the mobile mechanical arm and trajectory planning optimization and control of the mechanical arm in an uncertain environment are also solved; and the trajectory planning optimization method for the mobile mechanical arm is effective.

Description

technical field [0001] The invention belongs to the technical field of robot trajectory planning. Specifically, it relates to a method for optimizing trajectory planning of a mobile manipulator based on a genetic algorithm. technical background [0002] Mobile robotic arms are playing an increasingly important role in today's industrial production and daily life, and have attracted extensive attention from researchers at home and abroad. The research hotspots mainly focus on the motion planning and control of the mobile manipulator, among which trajectory planning is the basis of the trajectory control of the manipulator, which is of great significance to the stability, operating efficiency, operation accuracy and energy consumption of the manipulator. [0003] The so-called trajectory planning refers to a given starting point (initial state pose) and a desired end point (desired pose of the end effector), and at the same time seeks a suboptimal or optimal effective path co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 吴怀宇韩涛陈雪锋吴若鸿钟锐张志芬罗欢
Owner WUHAN UNIV OF SCI & TECH
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