基于改进DE算法的机械臂轨迹规划的设计

Design of Manipulator Trajectory Planning Based on Improved DE Algorithm

为提高工业机器人在执行任务时的稳定性及快速性,避免机器人系统在运动过程中产生振荡造成额外的能量损耗,需优化机械手运动轨迹。设计一种以优化为目标的轨迹规划算法。该法是基于改进的差分进化(Differential Evolution,DE)算法优化的3-5-3次多项式插值机械臂轨迹规划算法,利用基于改进DE算法的优化能力设计轨迹规划器,并在动力学仿真的基础上验证了方法的有效性、可行性。通过对仿真结果的分析,差分进化算法优化的轨迹运行时间更短,运动轨迹更光滑,从而避免了振荡的产生。

In order to improve the stability and rapidity of industrial robot when performing tasks,avoid additional energy loss caused by oscillation of robot system in the process of motion,the trajectory of manipulator needs to be optimized.In this paper,a trajectory planning algorithm aiming at optimization is designed.This method is a 3-5-3 degree polynomial interpolation manipulator trajectory planning algorithm optimized based on the improved differential evolution algorithm.The trajectory planner is designed by using the optimization ability based on the improved DE algorithm,and the effectiveness and feasibility of the method are verified on the basis of dynamic simulation.Through the analysis of simulation results,the trajectory optimized by differential evolution algorithm has less running time and smoother motion trajectory,so as to avoid oscillation.