基于时间最优的机械臂关节空间轨迹规划算法

Research on Mechanical Arm Joint Space Trajectory Planning Algorithm Based on Optimal Time

为了提高机械臂的作业效率和运动平稳性,提出了一种新的基于时间最优的轨迹规划算法。通过逆运动学求出与任务轨迹对应的关节位置序列,利用三次样条插值进行轨迹规划,从而使关节角速度、角加速度曲线光滑连续。通过自适应遗传算法对运动轨迹进行时间最短优化,并利用罚函数解决运动学约束问题。仿真结果表明该轨迹规划算法有效、可行,能够很好得减少机械臂完成工作任务所需的运动时间。

In order to improve the operational efficiency and motion stability of mechanical arm, this paper proposes a new trajectory planning algorithm based on time optimization. The joint position sequence corresponding to the task trajectory is obtained by inverse kinematics. Use cubic spline interpolation method for trajectory planning, so that joint angular velocity, angular acceleration curve can be smooth and continuous. The trajectory is optimized by adaptive genetic algorithm, and the penalty function is used to solve the kinematics constraint problem. The result of simulation shows that the trajectory planning algorithm is effective and feasible, and can well reduce mechanical arm movement of time needed to complete the task.