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Mechanical arm trajectory planning method based on improved whale search method

A search method and trajectory planning technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of accurate calculation results, high reliability, reduced calculation amount, and small amount of calculation in the analysis process, so as to shorten the optimization time, Reduce the amount of calculation, the effect of high precision

Active Publication Date: 2021-06-29
NANJING VOCATIONAL UNIV OF IND TECH
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Problems solved by technology

[0005] Purpose of the present invention: In order to solve the problem that the existing manipulator trajectory planning method cannot meet the requirements of small amount of calculation in the analysis process and accurate and high reliability of the calculation results, the present invention proposes A trajectory planning method for manipulators based on the improved whale search method, which greatly reduces the amount of calculation and also meets the requirements of high precision, which can be applied to trajectory planning of industrial robots

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  • Mechanical arm trajectory planning method based on improved whale search method
  • Mechanical arm trajectory planning method based on improved whale search method
  • Mechanical arm trajectory planning method based on improved whale search method

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Embodiment Construction

[0052] The technical solution of the present invention will be further described in conjunction with the accompanying drawings and embodiments.

[0053] refer to Figure 8 , the present embodiment adopts a trajectory planning method of the robotic arm based on the improved whale search method to plan the trajectory of the robotic arm to perform the task of gripping raw materials; image 3 Schematic diagram for the robotic arm to perform the task of gripping raw material, such as image 3 As shown, the subjects involved in performing this task include: machining center 1, material retrieving point 2, mechanical arm 3, silo 4 and raw material point 5; side, the raw material point 5 is located at any position of the silo 4, and the material retrieving point 2 is located at the processing center 1; There are 2 retrieving points, and then return to the initial position, which is a retrieving movement.

[0054] In conjunction with this task, the steps of the planning method used ...

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Abstract

The invention discloses a mechanical arm trajectory planning method based on an improved whale search method. The mechanical arm trajectory planning method comprises the steps that 1, a three-dimensional model is imported; 2, a space coordinate system of a six-degree-of-freedom structure body of a mechanical arm is established; 3, motion parameters of the three-dimensional model are defined, and a pose is obtained; 4, a mechanical arm motion time optimal model is established; 5, constraint conditions are defined; and 6, trajectory planning is conducted on the mechanical arm through the improved whale search method. A globally optimal solution can be obtained more quickly through the method, and a result has higher precision.

Description

technical field [0001] The invention belongs to the field of industrial robots and computer applications, and in particular relates to a trajectory planning method of a manipulator based on an improved whale search method. Background technique [0002] With the rapid development of modern artificial intelligence technology, the manufacturing industry is developing towards integration and automation, and industrial robots serving the mechanical field are also rapidly emerging. In the intelligent environment, the requirements for the degree of automation and precision of industrial robots are getting higher and higher. However, the cost of R&D and actual testing of industrial robots is relatively high, and the efficiency is low. Therefore, it is necessary to conduct simulation experiments on the designed industrial robots before realizing production to analyze whether their performance meets the requirements. [0003] Usually, kinematics solution, dynamics solution, trajector...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664B25J9/1679
Inventor 刘杰卞新宇吕卓昆刘洋李巍
Owner NANJING VOCATIONAL UNIV OF IND TECH