基于混沌麻雀算法的船用焊接机器人轨迹优化

Trajectory Optimization of Marine Welding Robot Based on Chaos Sparrow Search Algorithm

针对船用焊接机器人运动轨迹过渡段时间具有不确定性且机械臂运动过程中要符合效率高和振动冲击低等要求的问题,基于传统的5次多项式轨迹规划,利用混沌麻雀搜索算法以时间和脉动冲击(平滑度)为目标对船用焊接机器人过渡段运行轨迹进行相应优化。仿真结果表明:采用的轨迹规划方法优化效果好,与未优化情形相比,运行时间减少了26%,有效提升了机械臂的效率和平稳性。该优化方法对于船用焊接机器人具有可实行性。

Aiming at the uncertain time of the transition section of the marine welding robot’s motion trajectory and the problem of high efficiency and low vibration and impact during the motion of the manipulator.Based on the traditional fifth-order polynomial trajectory planning,the chaotic sparrow search algorithm is used to impact with time and pulse(smoothness)as the goal,the trajectory of the transition section of the marine welding robot is optimized.The simulation results show that the trajectory planning method used in the research has a good optimization effect.Compared with the unoptimized situation,the running time reduces by 26%,the efficiency and stability of the robotic arm are improved for marine welding robots.The optimization method is feasible for marine welding robots.