Trajectory Planning of Robot Arm Based on IPSO Algorithm
In order to reduce the jitter of the manipulator and improve work efficiency,an improved particle swarm optimization(IPSO)algorithm was proposed to take the four-DOF manipulator as the research object,in which the inertia weight and learning factor presented linear changes according to different iterations,instead of the fixed value under the traditional particle swarm optimization algorithm,with the goal of optimizing the running time of the manipulator.The reachable path points in the working space of the manipulator were selected,the joint angles at each path point were solved by inverse kinematics,the time was optimized by IPSO algorithm,and the motion process of the manipulator was fitted by 3-5-3 interpolation method.The results show that the convergence speed of the IPSO algorithm is increased,the running time of the whole trajectory of the robot arm is shortened by 45.7％,and the working efficiency of the robot arm is effectively improved.
万方数据
维普
