Robot trajectory planning method based on genetic chaos optimization algorithm
A technology of chaotic optimization and trajectory planning, applied in instruments, adaptive control, control/regulation systems, etc., can solve problems such as poor local search ability, and achieve the effects of improving work efficiency, prolonging service life, and smoothing curves
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[0036] The present invention will be further described below in conjunction with the drawings and embodiments.
[0037] The existing method is a path planning method, which is generally a mobile robot. The invention seeks the time-optimal motion trajectory under the condition that the rated limit value of the robot servo motor is satisfied. It is the planning of the robotic arm in a constrained motion space. Path planning is to find a series of path points to be passed. These points are just some positions in the space, or joint angles, while trajectory planning is to determine how to go. How fast, time information needs to be given to this path.
[0038] Robot trajectory planning method based on genetic chaos optimization algorithm, such as figure 2 As shown, the specific implementation steps are as follows:
[0039] A: According to the actual situation, use circular interpolation and linear interpolation in Cartesian space to interpolate the end effector at the starting point an...
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