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Industrial robot trajectory optimization method based on improved genetic algorithm

A technology for improving genetic algorithms and industrial robots, applied in the field of trajectory optimization of industrial robots based on improved genetic algorithms

Active Publication Date: 2021-04-23
FOSHAN UNIVERSITY
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Problems solved by technology

[0004] The purpose of the present invention is to propose an industrial robot trajectory optimization method based on improved genetic algorithm, to solve one or more technical problems in the prior art, at least provide a beneficial choice or create conditions

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  • Industrial robot trajectory optimization method based on improved genetic algorithm
  • Industrial robot trajectory optimization method based on improved genetic algorithm
  • Industrial robot trajectory optimization method based on improved genetic algorithm

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[0079]The concepts, specific structures, and technical effects of the present invention will be described below in conjunction with examples and drawings to fully understand the objects, programs and effects of the present invention. It should be noted that the features in the embodiments and embodiments in the present application may be combined with each other in the case of an unable conflict.

[0080]figure 1 Down to time - impact optimal trajectory planning flow chart, combined belowfigure 1 To explain an industrial robot trajectory optimization method based on improved genetic algorithm, in accordance with the present invention.

[0081]The present invention proposes an industrial robot trajectory optimization method based on improved genetic algorithm, including the following steps:

[0082]Step 1. The complete path is used in the Cartesian space using an arc interpolation and a linear interpolation combination method to obtain a series of key designs;

[0083]Step II. Establish a D-H pa...

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Abstract

The invention discloses an industrial robot trajectory optimization method based on an improved genetic algorithm, and aims to provide a trajectory through which an industrial robot completes a given route with the shortest time and the minimum impact based on the given path and a certain constraint condition. Based on a traditional genetic algorithm, the industrial robot trajectory optimization method disclosed by the invention improves a gene selection formula, a crossover formula and a mutation formula, improves crossover and mutation probabilities on the basis of self-adaption PRGA, optimizes the action time of a mechanical arm under the condition that the motion trail of the robot is stable, reduces resonance and shaking, caused by overlarge impact, of the robot, and enables the robot to run stably and smoothly, thereby greatly improving the working efficiency and prolonging the service life of the robot.

Description

Technical field[0001]The present invention belongs to the technical field of robot trajectory planning, and specific relates to an industrial robot trajectory optimization method based on improved genetic algorithm.Background technique[0002]The industrial robot has the advantages of high-speed high-precision, safe and reliable, etc., in modern industrial automation applications such as welding, spray coating, more actual significance. The existing robot trajectory planning is generally the joint angle, speed, and acceleration parameters of manual arms after a given trajectory, through the instrument, and the workforce is liberated to a certain extent, this method is It is based on artificial experience to set parameters, and cannot reach the shortest run time. The final running trajectory is not necessarily smooth, and there may be impact, which causes the mutation to shorten the life of the robot. Therefore, the appropriate method must be selected in the actual production applicati...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 胡杰李先祥余显俊古宗宝袁豪
Owner FOSHAN UNIVERSITY
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