Applying Improved Particle Swarm Optimization Algorithm to Trajectory Planning of Manipulator
In order to plan the time-optimal trajectory of the working manipulator of an aerial work robot,a time-optimal 3-5-3 combined piecewise polynomial interpolation algorithm based on the improved particle swarm optimization algorithm is proposed.First,a 3-5-3 combined piecewise polynomial is constructed.Then,under the constraints of angular velocity and angular acceleration,taking the shortest time as the optimization goal,the improved particle swarm optimization algorithm is used to optimize the results of the combined piecewise polynomial.Finally,the simulation results show that compared with the standard particle swarm optimization algorithm,the improved particle swarm optimization algorithm has significantly improved convergence speed and accuracy and does not fall into local convergence.The final optimization result is 12.8%higher than that of the standard algorithm.Under this trajectory,the joint angle,velocity and acceleration curves of the manipulator are smooth without sudden change.The motion of the manipulator meets the requirements,indicating that the improved algorithm is feasible.
万方数据
维普
