机械手臂的路径规划设计与研究

The path planning design of robot arm

针对传统遗传算法早熟这一问题,通过对六关节机械臂的正逆运动学求解,提出一种改进的轨迹优化算法。人为地在每一代种群中引入一些随机个体,采用改进交叉因子替换传统的线性交叉因子,使得交叉因子作用后的子代基因取值范围不再局限于父代基因。实验结果表明,关节角度偏差和关节角速度偏差可以分别控制在±1.5°和±3(°)/s,有效提升了机械臂运行稳定性和机械效率。

Aiming at the premature problem of traditional genetic algorithm,it analyzes the forward and inverse kinematics of six joint manipulator,proposes an improved trajectory optimization algorithm.It introduces some random individuals into each generation,and replaces the traditional linear cross factor with the improved cross factor,determines the value range of the offspring gene after the cross factor is no longer limited to the parent gene.The experimental results show that the joint angle deviation and joint angular velocity deviation can be controlled at±1.5°and±3(°)/s respectively,which effectively improves the operation stability and mechanical efficiency of the manipulator.