Trajectory Planning of Handling Robot Based on Improved Whale Algorithm
A time-optimal trajectory planning method based on improved whale optimization algorithm is proposed to solve the problems of low efficiency and insufficient stability of the robot.Firstly,the robot model is imported into MATLAB,and the space range of the robot is calculated according to the relevant algorithm.The actual target points are selected from the space range and converted to the joint space.In the joint space,the"quartic-cubic-quartic"interpolation polynomial is used to construct the robot trajectory,and then the angular velocity and angular acceleration of each joint are taken as the constraint conditions.The improved whale optimization algorithm is used to optimize the trajectory and shorten the running time of the robot.Through simulation experiments,the planning time of the improved whale algorithm is about 30%shorter than that of the PSO algorithm,and about 17%shorter than that of the standard whale algorithm,which can effectively improve the handling efficiency and stability of the robot.
NETL
NSTL
万方数据
