一种单关节式机械手最优轨迹设计

Optimal Trajectory Design of a Single Degree of Freedom Articulated Manipulator

提出了一种单关节式机械臂的运动轨迹优化问题,建立二阶线性系统。以机械臂末端运动相较于理想轨迹所消耗的能量最少为目标函数,将连续性轨迹离散化,通过差分进化(DE)算法对运动轨迹优化处理。结合三次样条插值法确定出连续的轨迹,利用PD控制方法,实现对最优轨迹的跟踪,使得最终运动过程中消耗的能量达到最小。仿真结果表明,该算法的轨迹优化收敛速度高,智能性强。

This paper proposes a motion trajectory optimization problem for a single-degree-of-freedom articulated mani-pulator and establishes a second-order linear system.The minimum energy of the end of the manipulator compared to the ideal trajectory is the objective function,and the continuity trajectory is discretized,and the motion trajectory is optimized by the differential evolution(DE) algorithm.Combined with the cubic spline interpolation method to determine the continu-ous trajectory,the PD control method is used to track the optimal trajectory,so that the energy consumed in the final motion process is minimized.The simulation results show that the trajectory optimization of this algorithm has high conver-gence speed and strong intelligence.