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.
关键词
能耗计算/负载平衡/抓取机械臂/运动轨迹/运动学/混沌群体/粒子群算法
Key words
energy consumption calculation/load balancing/grasping manipulator/motion track/kinematics/chaotic population/particle swarm optimization
维普
万方数据