Robot trajectory planning method
A technology of trajectory planning and robotics, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as non-optimal trajectories of robots
Active Publication Date: 2022-04-08
HENAN UNIV OF SCI & TECH
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[0004] The purpose of the present invention is to provide a robot trajectory planning method to solve the problem of non-optimal trajectory of the robot trajectory caused by the premature phenomenon of the method in the prior art
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[0036] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0037] Method example:
[0038] The robot trajectory planning method in this embodiment is based on figure 1 As shown in the system, the system includes a robot and its control unit 1, an automatic control unit 3 and an optimization calculation unit 2, and the robot and its control unit 1 includes a robot and a robot control unit. The robot is a Stanford Manipulator robot used in the online measurement process of cylindrical bearing rollers by a pneumatic measuring instrument. Under the action of the automatic control unit, the robot needs to complete the transfer between different spaces such as material feeding, testing, sorting and storage, etc. And grabbing, measuring, sorting and other actions; the automatic control unit 3 is used to control the collaborative operation among feeding, detection, sorting and storage; the optimization calculation u...
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The invention belongs to the technical field of robot online measurement trajectory planning, and particularly relates to a robot trajectory planning method. The method comprises the steps of firstly obtaining a joint trajectory sequence; and then solving the objective function by adopting a genetic algorithm to obtain an optimal joint trajectory point time interval sequence. The process of determining the fitness value comprises the following steps: if the two individuals are both in a feasible region range of a constraint function or a randomly generated parameter is smaller than a set adjustment parameter, judging the advantages and disadvantages of the two individuals through a target function, otherwise, judging the advantages and disadvantages of the two individuals through the constraint function; and sorting the advantages and disadvantages of all individuals in the population, and endowing each individual with a fitness value according to a sorting result. And finally, determining a continuous joint trajectory. The method introduces the random sorting algorithm to improve the calculation of the fitness value in the genetic algorithm, can effectively balance the influence of the target function value and the constraint function value on premature in the evolutionary process, avoids falling into local optimum, improves the search capability of the genetic algorithm, and guarantees the trajectory planning precision.
Description
technical field [0001] The invention belongs to the technical field of robot online measurement trajectory planning, and in particular relates to a robot trajectory planning method. Background technique [0002] With the development of manufacturing automation technology, industrial robot technology has been well applied in the automation industry due to its good flexibility and stability. Among them, the trajectory planning scheme of the robot is the key problem in the application technology of the robot. The common robot PTP planning is to set the parameters of the robot joints artificially through the method of teaching programming, so that the robot can complete the movement from the starting point to the target point. Since the setting of robot joint speed, acceleration and other parameters is directly related to the stability and work efficiency of the entire movement, the work efficiency of the robot is generally improved by optimizing these parameters, and the robot...
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IPC IPC(8): B25J9/16
CPCY02P90/02
Inventor 库祥臣杨星涛米显马东阳赵欢乐
Owner HENAN UNIV OF SCI & TECH