Application of Multi-strategy Improved Sparrow Algorithm in Time Optimal Trajectory Planning of Manipulator
In order to solve the problem of time optimal trajectory planning of six-degree-of-freedom citrus picking manipulator,a multi-strategy improved sparrow search algorithm(MISSA)for trajectory planning is proposed in this paper.Firstly,the kinematics model of the manipulator is established with the improved D-H parameter method,and its forward and inverse kinematics are solved,and then the joint space trajectory of the manipulator is established by 3-5-3 polynomial interpolation.Next,aiming at the ordinary sparrow algorithm,using Logistic chaotic map to homogenize the population,and combining the local and global search ability of the improved sine and cosine strategy balance algorithm,the improved sparrow search algorithm is obtained.Finally,the algorithm is used to plan the time optimal trajectory of the manipulator,and then compared with GA,PSO and SSA algorithms.The results show that the MISSA has a significant improvement in convergence speed and accuracy compared with the other three algorithms,the joint running time is reduced by 46.7%,and the joint kinematics curves are smooth and without sudden change after optimization,which verifies the effectiveness of the new algorithm.
万方数据
维普
