工业机器人最优轨迹规划算法

Industrial robot optimal trajectory planning algorithm

为优化机器人的工作性能,在分析工业并联机器人工作特性的基础上,将执行时间最优、跃度最小、能量最小、运动学和动力学约束为目标函数,应用惩罚函数法并加入初始速度、加速度、跃度和力矩约束,且目标约束条件中加入谐振频率限制,依据所建立的目标函数进行了遗传算法优化求解,对所得结果进行了三次样条插值,并在一台三自由度的工业搬运并联机械手上进行了实验。结果表明,在保证工作效率和节约能量的条件下,该轨迹规划方法可以减少机械部分的跃度,避免机械部分的谐振,降低机械和电机的磨损。

This paper is a study on optimizing the performance of the robot.The study consists of analyzing the operating characteristics of industrial robots,employing the optimal execution time,minimum jerk,minimum energy,and the kinematics and dynamics constraints as objective function,applying penalty function method to achieve the initial velocity,acceleration,jerk and torque constraints,adding the resonant frequency restrictions to target constraints,developing the genetic algorithm optimization of the established objective function,performing cubic spline interpolation of results,and conducting an experiment on a three degree of freedom parallel mechanical handling industry hands.The results show that the planning method can ensure energy efficiency and conservation while reducing the mechanical parts under jump,avoiding the mechanical part of the resonance,and reducing the mechanical and electrical wear.