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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

Inactive Publication Date: 2017-05-31
SHANDONG UNIV
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Problems solved by technology

The research on optimal time trajectory planning mainly uses the following methods at home and abroad, such as particle swarm algorithm, genetic algorithm, signal domain algorithm, dynamic programming method, etc., but many algorithms have their limitations. For example, although the convergence speed of particle swarm algorithm Fast, but poor local search ability

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  • Robot trajectory planning method based on genetic chaos optimization algorithm
  • Robot trajectory planning method based on genetic chaos optimization algorithm
  • Robot trajectory planning method based on genetic chaos optimization algorithm

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] Existing methods are path planning methods, generally for mobile robots. The invention seeks the time-optimized motion trajectory under the condition of satisfying the rated limit value of the robot servo motor. It is the planning of the robotic arm in a constrained motion space. Path planning is to find a series of path points to pass. These points are just some positions in space, or joint angles. Trajectory planning is to determine how to go, go How fast, you need to give time information 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, the end effector is interpolated at the starting point and the ending point by means of circular interpolation and linear interpol...

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Abstract

The invention discloses a robot trajectory planning method based on a genetic chaos optimization algorithm. The method comprises the following steps: performing interpolation in a starting point and an ending point in Cartesian space to obtain a series of middle position points; establishing a D-H parametric model and solving angle values of joints of a robot corresponding to the position points in joint space; initializing a time interval sequence between every two nodes in the joint space; constructing values of angles passed by polynomial interpolation joint space and controlling themotion form of each joint; constructing a time optimal fitness function, optimizing the time interval sequences with the robot trajectory planning method based on the genetic chaos optimization algorithm until end conditions are met, and outputting the optimal time interval sequence; planning a motion trajectory and finishing set motion. With adoption of the method, the optimal running time of the robot can be obtained, the working efficiency of the robot is increased, curves of the motion trajectory, speed and acceleration are smooth without sudden change, and the service life of the robot is prolonged.

Description

technical field [0001] The invention relates to the technical field of robot trajectory planning, in particular to a robot trajectory planning method based on a genetic chaos optimization algorithm. Background technique [0002] Existing robots are generally taught online. After the trajectory is determined, the speed and acceleration of the mechanical arm are generally controlled manually to complete the specified trajectory requirements. Robots are widely used in food and drug processing and packaging. , automobile spraying, arc welding, spot welding of parts, metal cutting and other fields, although human labor has been liberated to a certain extent, the general method does not make the running time of the robot on the trajectory the shortest, and the running time The trajectory of the robot is not necessarily smooth, and the sudden changes in the running trajectory, acceleration and speed affect the service life of the robot. Therefore, the time is not optimal, and ther...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋锐张其万高峰孟超王懂辛晓琨张晓涛尚传妮王康丽
Owner SHANDONG UNIV
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