Cuckoo search algorithm based time optimal mechanical arm track planning method

Abstract

The invention relates to a Cuckoo search algorithm based time optimal mechanical arm track planning method, and belongs to the field of multi-joint mechanical arm joint space track planning. The Cuckoo search algorithm based time optimal mechanical arm track planning method is characterized in that time optimal is taken as an performance index, speed maximum is taken as a constraint condition anda 3-5-3 polynomial is used to perform track planning on a mechanical arm, so that the mechanical arm can operate to the final point from the start point as quickly as possible under constraint of speed, and therefore, real-time performance of the whole system is improved. The method uses an intelligent optimization algorithm to solve optimal time needed for each section of the rack, uses speed asthe constraint condition, uses time sum of three sections of the polynomial as a target function, utilizes the Cuckoo search algorithm to solve the optimal time needed for each section of the track under constraint of speed, and finally uses optimal time to perform track planning on the mechanical arm. The Cuckoo search algorithm based time optimal mechanical arm track planning method ensures thespeed of each joint to meet constraint of speed, enables accelerated speed to not suddenly change, and enables the mechanical arm to stably move to the final point from the start point.

Description

technical field [0001] The invention belongs to the field of joint space track planning of a multi-joint manipulator, and relates to a time-optimal manipulator track planning method based on a cuckoo search algorithm. Background technique [0002] Trajectory planning is conducive to prolonging the life of motors and other parts, avoiding vibration, making the operation of the robot arm more stable and improving the accuracy of the system. The trajectory planning of the manipulator can be divided into trajectory planning in joint space and trajectory planning in Cartesian space. The trajectory planning methods in joint space usually include cubic polynomial interpolation, quintic polynomial interpolation, etc. The trajectory planning method in Cartesian space Usually there are straight line trajectory planning, arc trajectory planning and so on. [0003] In order to control the manipulator in real time, a simple interpolation function is usually selected when planning the tr...

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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a time-optimized robot trajectory planning method based on the cuckoo search algorithm, which uses an intelligent optimization algorithm to optimize the segmented polynomial interpolation problem, and solves the optimal time required for each polynomial , to solve the problem that when manually determining the running time of each track, the shutdown speed is too fast or too slow, which affects the life of the motor and the real-time performance of the entire system

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