基于麻雀算法的机械手时间最优轨迹规划

Time Optimal Trajectory Planning of Manipulator Based on Sparrow Algorithm

针对五自由度凸轮工件缺陷检测的机械手时间最优轨迹规划问题,利用D-H表示法建立机械手运动模型,通过正运动学、逆运动学分析求解各关节角度变化值,利用三次样条曲线在关节空间中建立机械手运动轨迹。同时在满足各关节速度、加速度、加加速度限制范围的基础上,采用麻雀算法通过约束条件外加罚函数改进个体适应度函数,对三次样条曲线轨迹实现时间最优规划。最后利用MATLAB软件进行机械手轨迹运动仿真,仿真结果表明,经麻雀算法优化后的运动轨迹时间明显减少,工作效率大幅度提高,最后通过机械手检测实验从而证明了所研究方法的可靠性和有效性。

Aiming at the time-optimal trajectory planning of the manipulator for the detection of five-degree-of-freedom cam workpiece defects,the manipulator motion model is established by DH notation,and the angle change value of each joint is solved through forward kinematics and inverse kinematics.The cubic spline curve is used to establish the motion trajectory of the manipulator in joint space.At the same time,on the basis of satisfying the limit range of the speed,acceleration and jerk of each joint,the improved sparrow algorithm is adopted.To improve the individual fitness function through the additional constraint conditions and penalty function is used achieve the time optimal planning for the cubic spline curve trajectory.Afterwards,MATLAB is used to simulate the trajectory of the manipulator,and the simulation results show that the trajectory time optimized through the improved sparrow algorithm is significantly reduced,and the work efficiency is greatly improved.At last,by doing the manipulator detection experiment,thereby the reliability and effectiveness of this research is verifying.