Teaching regenerated trajectory optimizing method based on GA-PSO

A trajectory optimization and teaching technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult to obtain teaching trajectory, high skill requirements, high programming requirements, etc., to improve service life and mechanical performance, high tracking Accuracy, increased safety effect
CN109895103AActive Publication Date: 2019-06-18TONGJI UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
TONGJI UNIV
Publication Date
2019-06-18

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Abstract

The invention relates to a teaching regenerated trajectory optimizing method based on GA-PSO. The method comprises the steps that 1), when direct teaching is conducted, sampling is conducted on the trajectory of a robot according to a set sampling period, and the angular value of each joint of the robot is recorded in real time; 2), a GA-PSO algorithm is adopted as an optimization algorithm to obtain the optimal trajectory point time interval sequence; 3), spline interpolation is conducted three times according to the optimized time interval sequence and corresponding sampling trajectory pointto obtain an optimized teaching trajectory; 4), when teaching trajectory regeneration is conducted, the optimized teaching trajectory is discretized according to the controlling period to be transmitted to the robot controller, and the whole teaching trajectory is completely regenerated. Compared with the prior art, the method has the advantages of redundant trajectory information removing, stable operation, halt and abrupt acceleration nonexistence and the like.
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Description

technical field

[0001] The invention relates to the field of industrial robot operation control, in particular to a method for optimizing teaching and reproduction trajectory based on GA-PSO algorithm. Background technique

[0002] Teaching reproduction is the current mainstream operation control method for industrial robots. The commonly used teaching methods include teaching box teaching, joystick teaching, master-slave robot teaching and direct teaching.

[0003] Among them, the direct teaching method can realize the teaching of complex trajectories by direct dragging. It has the advantages of simple operation and convenient teaching, and has high application value in some tasks that require the execution of complex trajectories. However, since the human hand may vibrate when teaching directly, and it is difficult to satisfy the angular velocity constraints and angular acceleration constraints of the robot during the teaching process, if the teaching trajectory is directl...

Claims

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