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Optimal time trajectory planning method for mechanical arm

A technology of trajectory planning and optimal time, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as easy to fall into local oscillations, achieve the effect of accelerating convergence speed and improving work efficiency

Active Publication Date: 2021-09-03
SHANGHAI INST OF TECH
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Problems solved by technology

[0006] Therefore, there is a need for an improved particle swarm optimization algorithm to solve the problem of particle orientation under the consideration of multiple constraints, which is easy to fall into local oscillation and obtain local optimal results.

Method used

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  • Optimal time trajectory planning method for mechanical arm
  • Optimal time trajectory planning method for mechanical arm
  • Optimal time trajectory planning method for mechanical arm

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Embodiment Construction

[0050] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0051] Figure 1a is the initial trajectory parameter map of the four-axis manipulator; Figure 1b kinematics constraint graph for the four-axis manipulator

[0052] Such as figure 2 As shown, the present invention provides a method for optimal time trajectory planning of a manipulator, including:

[0053] S1: Obtain the trajectory planning parameters, the trajectory planning parameters include: the starting point θ of the joint i0 , waypoint θ i1 and θ i2 , end point θ i3 , the number of robot joints is the number of degrees of freedom, the velocity and acceleration of the initial point and the end point;

[0054] S2: Based on the trajectory planning parameters, establish a trajectory planning interpolation function of the...

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Abstract

The invention provides an optimal time trajectory planning method for a mechanical arm. According to the method, under the condition that multiple constraint conditions such as the speed, the acceleration and the jump value of the mechanical arm are considered, the inertia weight and the learning factor in a particle swarm are improved, and the defect that the particle swarm is prone to convergence, so that a local optimal solution is obtained is overcome. Meanwhile, a 3-5-3 polynomial interpolation trajectory method is adopted, so that the algorithm is simple in structure, parameters are easy to adjust, and the defects that the polynomial is high in order, has no convex hull property and the like are overcome. According to the optimal time trajectory planning method, the particle swarm optimization is improved, so that the operation time of the mechanical arm is shortened, and smooth and stable joint position, speed and acceleration curves are obtained.

Description

technical field [0001] The invention relates to a method for planning optimal time trajectory of a mechanical arm. Background technique [0002] Today, robotic arms are widely used in industrial assembly lines and manufacturing systems. In the application of industrial robots, the problem of trajectory planning has always been a hot spot, in which time optimality plays a vital role in maximizing production efficiency. In addition, the manipulator is also affected by multiple dynamic constraints during motion. Therefore, in a multi-constraint environment, reducing the working time of the manipulator is the core of solving the problem. [0003] Trajectory planning is usually performed in work space and joint space. In the workspace, the trajectory of the end effector can be described naturally. However, such trajectory planning will easily lead to kinematic singularities and manipulator redundancy. The joint-oriented space method can indeed guarantee the smoothness of eac...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/163
Inventor 曹家勇吴沛华
Owner SHANGHAI INST OF TECH
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