A time grouping-based optimization method for joint trajectory of robotic arm
A trajectory optimization, robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of untargeted motion characteristics of each axis of the manipulator, shorten the attitude adjustment time, reduce the three-axis pulsation, and reduce the attitude Adjust the effect of time reduction
Active Publication Date: 2021-06-18
BEIJING INSTITUTE OF TECHNOLOGYGY +1
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] However, analyzing the existing algorithms, it is found that the objective function of the multi-axis manipulator is for all axes, and the time is also unified for each axis, but the existing algorithm is not specific to the motion characteristics of each axis of the manipulator
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents coming within the spirit and scope of the appended claims.
[0036] The trajectory planning of the manipulator is the basis of trajectory control, which is of great significance to the operating efficiency, stability, operation accuracy and energy consumption of the manipulator. In the case of the obtained trajectory, the intelligent optimization algorithm is used to optimize the trajectory to achieve the purpose of improving time a...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
In order to improve the efficiency of each joint and make the optimization target more targeted, the trajectory optimization of the joint space of the six-axis articulated robot with the Pieper criterion is carried out, and a trajectory based on time grouping is proposed for the structure and performance analysis of the six-axis robotic arm. The optimization strategy optimizes the trajectories of the front three axes and the rear three axes of the six-axis robotic arm in different time dimensions, and conducts targeted optimization according to the characteristics of the joint torque to achieve the optimization of shortening the attitude adjustment time and reducing the pulsation Effect. By analyzing the characteristics of the time-based trajectory optimization algorithm, the exchange pool of the genetic algorithm is introduced into the particle swarm optimization algorithm to improve the iterative omission of multi-dimensional information and effectively improve the optimization efficiency of the algorithm. Through experimental simulation and comparison with other optimization strategies and target setting optimization effects, the attitude adjustment time is reduced by about 15% on average.
Description
technical field [0001] The present invention relates to the technical field of trajectory optimization of mechanical arm joints, in particular to a method for optimizing the trajectory of mechanical arm joints based on time grouping. Background technique [0002] Today, with the rapid development of modern industry, the robotic arm has become an indispensable and important part of most modern factories, and how to plan the movement of the robotic arm to make it have good working performance has become a topic worth studying. For multi-joint manipulators, the movement process is complex and there are many constraints, and the motion trajectory planning for it can reduce time, energy and other indicators very well. However, according to the characteristics of nonlinearity and strong coupling of manipulators, intelligent algorithms are mostly used at present. Optimizing the motion of a robotic arm under multiple constraints. Trajectory optimization is a further study of trajec...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 潘峰安启超常成周鹏程刘健徐楠张笛
Owner BEIJING INSTITUTE OF TECHNOLOGYGY