Time Optimal and Pulsation Optimal Trajectory Planning of Excavator
In order to improve the efficiency of the excavator and reduce the vibration of each joint,a trajectory planning method is proposed to make the joint running time and joint pulsation of the excavator reach some comprehensive optimization.Under the premise of considering the kinematic constraints and action time constraints of the boom,stick and bucket of the excavator,the quintic non-uniform B-spline curve is used to interpolation the discrete sequence points,and then the objective function is opti-mized by using adaptive particle swarm optimization(ASPO)algorithm to get a short action time and pulsating continuous joint trajectory.Finally,the simulation experiment of the optimized joint trajectory is carried out.The results show that the method can obtain ideal motion trajectory,which proves that the method is effective.
NETL
NSTL
万方数据
维普
