Manipulator Joint Space Trajectory Optimization Based on Non-Dominated Disturbed PSO
In order to reduce the working time of the manipulator and the motion impact of the manipulator,a multi-objective trajectory optimization method based on non-dominated sorting perturbation particle swarm optimization algorithm is proposed.Taking the Nazhi MZ04 manipulator as the research object,the space trajectory planning problem of the manipulator is de-scribed,and the multi-objective optimization model with the least time and the least impact is established.Disturbance strategy and non-dominated sorting strategy are integrated into particle swarm optimization.Disturbance strategy makes particles learn from the optimal neighborhood instead of the fixed population,which effectively maintains the diversity of particles and improves the optimization ability of the algorithm.The results show that the Pareto frontier solution of the PSO algorithm is better than that of the PSO algorithm.Comparing the time,impact and other weight solutions of non-dominated perturbed particle swarm optimi-zation algorithm and non-dominated particle swarm optimization algorithm,it can be seen that the time and impact of path planning of non-dominated perturbed particle swarm optimization algorithm are better than that of non-dominated particle swarm optimization algorithm,and the trajectory is continuous and smooth,and the trajectory parameters are within the con-straint range,It is proved that the non-dominated perturbed particle swarm optimization algorithm is effective in trajectory plan-ning of manipulator.
万方数据
维普
