Research on Trajectory Planning Optimization Method of Hybrid Bionic Manipulator
Aiming at a series parallel hybrid humanoid robot manipulator,an optimization method for the optimal trajectory of multi-objective manipulator is proposed.Firstly,the normalized Jacobian condition number is used as the static index to obtain the path of joint velocity distribution.After obtaining the path required for trajectory planning,the trajectory is planned by estab-lishing the quintic B-spline interpolation trajectory,and the trajectory is optimized by NSGA-Ⅱ program.The optimal solution is determined by defining the weight of the target,including travel time,energy consumption and torque fluctuation.On this basis,the dynamic full solution of the hybrid bionic robot is obtained by combining the balance equation of Newton Euler method and the deformation coordination equation of small deformation superposition principle.Finally,the correctness of the dynamic model of the hybrid bionic robot is verified by ADAMS simulation.
NETL
NSTL
万方数据
维普
