基于粒子群算法的机器人关节空间最优运动轨迹规划

Optimal Motion Trajectory Planning of Robot Joint Space Based on Particle Swarm Optimization

为了提高机器人的工作效率,对机器人轨迹规划进行研究。文章依据机器人运动学特征,提出了一种关节空间运动轨迹规划的算法。其基于粒子群算法,采用高次多项式插值的方式,对机器人关节空间的运动轨迹进行拟合。在确保运动轨迹平滑的同时,保证了关节运动的平稳性。最后,在MATLAB中进行仿真实验,实现了关节空间最优运动规划。该算法结构简单,易于实现,为提高机器人的工作效率提供了科学依据。

To improve the working efficiency of the robot,the paper studied the trajectory planning of robot.According to the kinematics characteristics of the robot,proposed an algorithm of joint space trajectory planning.Based on the particle swarm optimization algorithm,the trajectory of the joint space of the robot is fitted by using the high order polynomial interpolation method.Ensuring the smooth of motion trajectory,meanwhile,guarantee the stability of joint motion.Finally,the simulation experiment is carried out in MATLAB,and the optimal motion planning of joint space is realized.The algorithm is simple and easy to implement,which provides a scientific basis for improving the working efficiency of the robot.