Time Optimal Trajectory Planning for a 6R Serial Robotic Manipulator
Considering the time optimization for robotic manipulator trajectory planning,the motion traj-ectory of 6R serial robotic manipulator is analyzed and studied.According to the robot kinematic charac-teristics,a time-optimal method based on the improved particle swarm algorithm is proposed with adop-ting the polynomial curve trajectory combined with the particle swarm optimization notion.The kine-matic model of the robotic manipulator is constructed by the method of screw theory,and the joint traj-ectory is constructed by using the quintic polynomial curve in the joint space,and the optimal time se-quence is solved by the improved PSO algorithm with minimizing running time as the objective function to complete the optimization of the trajectory.In the algorithm parameter setting,adaptive inertia weight factor and dynamic learning factor strategy are used to improve the standard particle swarm algo-rithm,which improves the search speed and global convergence ability of the algorithm.The effective-ness of the planning method based on the improved PSO optimization algorithm and the quintic polyno-mial function is verified by the optimization results using the handling condition as a simulation example.The results show that the method can ensure that the angular displacement,angular velocity and angular acceleration curves of each joint of the robotic manipulator are continuously smooth without sudden changes,and reduce the running time from 7.2 s to 6.64 s,with an overall runtime improvement of a-bout 8.43%over the before optimization,which effectively improves the efficiency and smoothness of the robotic manipulator operation.
万方数据
维普
