Manipulator Multi-Object Optimal Trajectory Planning Based on Adaptive Penalty MOEA/D Algorithm
In order to reduce the working time and impact of the manipulator,a time-impact multi-objective programming method based on adaptive penalty MOEA/D algorithm is proposed.The structure of PUMA560 manipulator is introduced,and the linkage coordinate system of the manipulator is established.An optimization model is established to reduce the working time and impact of the manipulator,and the quintic polynomial interpolation function is analyzed.By coding and establishing the fit-ness function,the trajectory planning problem is transformed into the optimal gene search problem.The adaptive penalty factor is set according to the density of the solution in the neighborhood,and the adaptive penalty MOEA/D planning method of the ma-nipulator trajectory is proposed.The simulation results show that the Pareto frontier solution quality searched by the adaptive pen-alty MOEA/D algorithm is higher than that of the standard MOEA/D algorithm and the new MOEA/D algorithm in reference[10].After optimization,the working time of the manipulator is reduced by 7.68%and the impact is reduced by 17.32%.The experi-mental results show that the adaptive penalty MOEA/Dalgorithm has advantages in manipulator trajectory planning.
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万方数据
维普
