Mechanical arm space trajectory optimization method for optimal time under multiple constraint conditions

An optimal time and trajectory optimization technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as not considering constraints, not being able to obtain the optimal solution of time, and easily falling into local extremum, etc., to achieve increased The effect of diversity

Active Publication Date: 2018-10-16
WUHAN UNIV OF TECH
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Problems solved by technology

[0004] The existing trajectory optimization method about the optimal time is mainly based on the single-objective optimization of the particle swarm optimization algorithm, which does not consider the constraints of each joint and cannot reflect the global level of

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  • Mechanical arm space trajectory optimization method for optimal time under multiple constraint conditions
  • Mechanical arm space trajectory optimization method for optimal time under multiple constraint conditions
  • Mechanical arm space trajectory optimization method for optimal time under multiple constraint conditions

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[0059] The present invention will be further described below in conjunction with accompanying drawing.

[0060] figure 1 It is a flow chart of the method of the present invention, combined with figure 1 Shown:

[0061] 1. Generate path points in joint space based on path points in the Cartesian coordinate system

[0062] Convert the trajectory in the Cartesian coordinate system of the end effector of the manipulator to the angle change in the joint coordinate system, and set the path point θ that the manipulator needs to pass through to complete the entire trajectory:

[0063] θ={θ sr |s=1,...m; r=1,...n+1}

[0064] Among them, θ sr Indicates the position of the rth waypoint of the sth joint, m is the number of joints of the robot arm, and n+1 is the number of waypoints.

[0065] 2. Generate a 3-5-3 interpolation function for each joint from the start point to the end point of the task

[0066] Assuming that a joint of the manipulator moves from two points B and C on th...

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Abstract

The invention discloses a mechanical arm space trajectory optimization method for optimal time under multiple constraint conditions. The mechanical arm space trajectory optimization method comprises the steps that firstly, path points of a joint space are generated according to path points in a Cartesian coordinate system of a mechanical arm; secondly, multiple spline interpolation functions of all joints from a task start point to an end point are generated according to the path points of the joint space, and adaptability functions of all the joints are generated according to the constraint conditions; and thirdly, the movement time of all the joints is optimized through an improved Chaos particle swarm algorithm, and an optimal solution is finally obtained. According to the mechanical arm space trajectory optimization method for the optimal time under multiple constraint conditions, multiple constraint conditions such as the velocity and the acceleration of all the joints of the mechanical arm are comprehensively taken into account, improvement is conducted on the basis of the particle swarm algorithm, a particle swarm can be switched between a chaos state and a stable state, thestates of all particles are detected, the particles can achieve separation in time when the particles reach the local extremum, and then the diversity of the whole particle swarm is improved. By means of the method, the movement time of the mechanical arm can be effectively shortened under the multiple constraint conditions, and the working efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of multi-degree-of-freedom manipulator control, and relates to a method for optimizing a space trajectory of a manipulator, in particular to a method for optimizing a space trajectory of a manipulator at optimal time under multi-constraint conditions. Background technique [0002] In the increasingly modern industrial manufacturing field, there are increasingly strong application requirements for robotic arms. Among them, the trajectory planning and trajectory tracking control algorithm of the robotic arm is the core content of the research of the robotic arm. The research in this aspect can provide technical support for the smooth operation of the robotic arm and the improvement of work efficiency. [0003] As an important indicator of trajectory planning, time can intuitively express the requirements of the working efficiency of the manipulator, so that the manipulator can operate efficiently; at the same ...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/1664
Inventor 郭新华马腾宇胡业发吴华春
Owner WUHAN UNIV OF TECH
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