基于遗传算法的装填机械臂轨迹多目标优化设计

Multi-objective Optimization for Robot Path Planning Genetic Algorithm

本文通过5次多项式插值法,建立药筒装填机械臂在关节空间的轨迹数学模型,提出了基于时间、能耗和振动的3个优化设计目标,并结合遗传算法对轨迹模型进行优化。结果表明,优化后的轨迹保留了原有轨迹模型一阶、二阶导数连续的特点,更加符合装填机械臂对实际操作任务的需求。

The passage set up a math molding of robotic arm in joint space through five degrees of polynomial interopolation, and gives three design objects about time,energy dissipation and vibration, using genetic-algorithm to optimize the math molding. The results indicate that the optimized path reserved the primary characteristic on continuous of first and second derivative, and accord with the demands of the real operating duty of the robotic arm much more.