摘要
阐述适用多种生产场景的工业机器人多目标轨迹优化模型,包括目标函数的设计、约束条件确定。介绍基于NURBS曲线的工业机器人轨迹规划、CSNSGA-II构建、6R勃朗特机器人的优化仿真。
This paper expounds a multi-objective trajectory optimization model for industrial robots applicable to various production scenarios,including the design of objective functions and determination of constraint conditions.It introduces industrial robot trajectory planning based on NURBS curves,CSNSGA-ll construction,and optimization simulation of 6R Bronte robots.
作者
张梓函
ZHANG Zihan(Binjiang College,Nanjing University of Information Science and Technology,Jiangsu 214105,China)
出处
《电子技术（上海）》
2024年第6期332-333,共2页
Electronic Technology
关键词
工业机器人
多目标轨迹
优化模型仿真
industrial robots
multi-objective trajectory
optimization model simulation
