基于SWIFT算法的球关节操作臂最优路径规划

AN OPTIMAL PATH PLANNING OF THE MANIPULATORS WITH GLOBE JOINT BASED ON SWIFT ALGORITHM

针对目标物体在空间的位置和姿态确定的情况下 ,机器人操作臂如何选择一条满足关节转角约束 ,且使所有关节转动角度之和为最小的最佳路径这一问题 ,提出了利用动态可行解区间作为改进SWIFT ( sequential weightincreasing factor technique)算法的初始迭代值进行寻优迭代的方法 ,并对罚因子 rk 进行了讨论 .该算法具有较少的迭代次数和较快的收敛速度 ,并通过对 9个自由度的球关节操作臂的仿真结果 ,验证了该算法的正确性和可行性 .

An optimal path planning method for 9 DOF redundant manipulators with globe joints is presented in the paper, which based on the SWIFT (sequential weight increasing factor technique) algorithm and restricted revolute joint angle. When the initial position and the pose of the goal is determinated, the algorithm is able to find the optimal path, which enables the sum of all joint re volute angle to be minimal. And the r k is discussed, which accelerates the algorithm convergence. The algorithm possesses fewer reiterative times and faster convergence. The feasibility and the validity of the algorithm are validated by the optimal outcomes and the simulation results of the 9 DOF manipulators in 3D space.