基于改进肉食植物算法的机器人关节轨迹规划方法及装置
By improving the carnivorous plant algorithm and combining convex polygon region analysis and cubic B-spline curves, the robot joint trajectory planning is optimized, solving the problems of insufficient computational complexity and smoothness in the existing technology, and achieving efficient and stable trajectory planning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHONGQING UNIV OF POSTS & TELECOMM
- Filing Date
- 2024-03-21
- Publication Date
- 2026-07-17
AI Technical Summary
Existing robot trajectory planning methods have shortcomings in terms of computational complexity and joint smoothness, especially in high-dimensional interpolation operations and multi-objective environments where it is difficult to achieve optimal trajectory planning.
An improved carnivorous plant algorithm is adopted to optimize robot joint trajectory planning by establishing an objective function. The trajectory function is constructed by combining convex polygon region analysis and cubic B-spline curves. Chaotic search and normal distribution strategies are used to optimize the population growth direction and solve for the optimal trajectory control point.
It improves the computational efficiency and smoothness of robot joint trajectory planning, ensures the stability and accuracy of motion, and reduces the computation time and complexity of trajectory planning.
Smart Images
Figure CN118024254B_ABST