摘要
采用闭链矢量运动学模型,引入5阶B样条曲线插值逼近理论,提出一种基于非轴系驱动空间的液压机械手运行轨迹规划算法.针对当满足运动学约束时机机械手的总运行时间优化问题,引入改进型粒子群优化算法,优化求解时间步长,从而实现时间最优连续运动轨迹曲线.实际应用的实验结果显示:可以将实际工具中心点(TCP)轨迹和期望轨迹的绝对误差控制在25mm以内,为液压机械手运动控制提供较理想的轨迹曲线.该研究较好地解决了非关节驱动液压机械手系统运动规划问题,提高了针对复杂路径规划算法的效率.
A hydraulic manipulator trajectory planning algorithm based on non-axis driving space was proposed by introducing the closed chain vector kinematics model and the 5-order B-spline curve interpolation approximation theory.For the optimization problem of the total running time of the manipulator when met the kinematic constraints,the improved particle swarm optimization was introduced to optimize the solving step,so as to realize the time optimal continuous trajectory curve.The experimental results of practical application showed that the absolute error was less than 25 mm between the actual tool center point（TCP）trajectory and the desired trajectory.The research can solve the motion planning of the non-joint driving hydraulic manipulator and improve the efficiency of complex path planning algorithm.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2015年第9期1776-1782,共7页
Journal of Zhejiang University：Engineering Science
关键词
闭链模型
轨迹规划
B样条曲线
粒子群优化算法
closed-chain model
trajectory planning
B-splines
particle swarm optimization
