机械手时间最优轨迹规划方法研究

The Study of Time Optimal Trajectory Planning for Robot Manipulators

提出一种基于模糊遗传算法的机械手时间最优轨迹规划方案。该方案对简单遗传算法进行了改进 ,将模糊原理应用于遗传算法 ,形成了模糊遗传算法 ,对遗传算法中的交叉概率及变异概率进行模糊控制 ,提高了算法的收敛速度 ,有效地避免了初期收敛的发生。在进行时间最优轨迹规划时 ,综合考虑了机械手的运动学与动力学特性 ,采用罚函数方法来处理力矩约束。经仿真研究表明 ,该方法简单实用 ,适用于大范围空间的轨迹规划 。

A scheme of time optimal trajectory planning for robot manipulators based on fuzzy genetic algorithm is presented in this paper. The simple genetic algorithm is improved at first and a fuzzy principle is applied to genetic algorithm. The fuzzy genetic algorithm is presented. The crossover probability and the mutation probability are changed by fuzzy control for expediting search process of the genetic algorithm. The premature convergence is effectively restrained. The kinematics and dynamics of robot manipulator are all considered in time optimal trajectory planning. The penalty function method is applied for tackling the torque constraints. Simulations show that the proposed method is simple, flexible and provides a near optimal solution among the huge trajectory space. This trajectory planner tends to be less trapped into the local minima unlike the conventional nonlinear programming method based trajectory planners.