Trajectory planning algorithm for grasping manipulator considering energy consumption and load factors
Because the trajectory planning of the grasping manipulator is unreasonable,the movement distance is increased,and a large amount of energy is lost.Therefore,an algorithm for trajectory planning of the grasping manipulator considering energy consumption and load factors is proposed.The kinematics model of the grasping manipulator is established according to the kinematics principle.The space position and attitude of each link are solved through homogeneous transformation matrix.The time interval sequence and cubic non-uniform B-spline interpolation algorithm are used to constrain the angle,velocity and acceleration of each joint,so as to optimize the energy consumption and load of its motion trajectory.The linear regression analysis equation is used to generate a new population,find out the optimal particle of the population and replace it with any particle in the original population,and the optimal movement trajectory of the population was found by repeating the process.Experimental results show that the proposed algorithm has fast convergence speed and minimum energy consumption.
energy consumption calculationload balancinggrasping manipulatormotion trackkinematicschaotic populationparticle swarm optimization
万方数据
维普
