基于粒子群算法的可重构模块化机器人速度约束下轨迹规划

The study of PSO based trajectory planning for reconfigurable module robot under the constraint of velocity

针对可重构模块化机器人速度约束下的时间最优轨迹规划进行研究.首先利用旋量理论实现模块化机器人运动学方程的自动生成,并在此基础上利用3-5-3多项式插值进行机器人的轨迹规划.由于可重构模块化机器人系统刚性差、在高速运动时会产生较大振动,需要对运动速度进行约束,本文利用粒子群算法对速度约束下的插值时间进行优化,使得机器人在速度限制下实现运行时间最优.最后通过仿真实验得到机器人角度、加速度以及角加速度曲线并进行分析,证明了方法能有效地实现速度约束下的最优轨迹规划.

The trajectory planning for reconfigurable module robots is studied in this paper. Firstly, the forward kinematics equations of the reconfigurable robot are automatically derived though the screw theory. Then the 3-5-3 polynomial interpolation method is used for planning trajectory of robot system. Due to have low rigidity the reconfigurable robot system will produce large vibration in high speed motion. To solve this problem, the polynomial interpolation time is optimized by the particle swarm optimization at a constrained speed and the shortest time is obtained under the condition of known. An example is provided to illustrate the validity of optimal trajectory planning through its position, velocity and acceleration curve.