基于改进蜣螂优化算法的机械臂轨迹规划方法研究

Research on Trajectory Planning Method of Manipulator Based on Modified Dung Beetle Optimization Algorithm

本文以ABB-IRB 120为研究对象,建立了机械臂连杆坐标系以及DH参数表,并在给定运动学基础上,将改进蜣螂优化算法应用于4-3-4分段多项式轨迹优化中;最后将改进蜣螂优化算法和粒子群优化算法进行对比,得到了机械臂关节适应度变化曲线。仿真实验结果表明,相较粒子群算法,改进蜣螂算法能有效提高解的寻优精度和收敛速度,大幅度缩短机械臂运行时间,降低了机械臂在运行过程中的冲击与振动。

The ABB IRB 120 robotic arm is chosen as the research subject,and arm link coordinate systems and DH parameters are established.Building upon a given kinematic foundation,the improved dung beetle optimization algorithm is applied to optimize 4-3-4 piecewise polynomial optimal trajectories.Finally,the improved dung beetle optimization algorithm and particle swarm optimization algorithm are compared,and the fitness curve of the manipulator joint is obtained.Simulation results demonstrate that,compared to the particle swarm algorithm,the modified dung beetle optimization algorithm significantly enhances optimization precision and convergence speed,markedly shortens the operational time of the robotic arm,and reduces impacts and vibrations during the arm's operation.