Time-optimal Trajectory Optimization of Collaborative Manipulator Based on Improved Genetic Algorithm
Aiming at the problems of traditional genetic algorithm in optimizing the trajectory time of manipulator,such as easy to fall into the local optimum and low precision of local search at the later stage,an improved genetic algorithm is proposed.Tent mapping is used to initialize the population to enhance the global search ability of the genetic algorithm.The simulated annealing algorithm is introduced to carry out local annealing operation for each generation of the offspring population to enhance the ability of the algorithm to jump out of the local optimum,and the firefly algorithm is used to replace the conventional variational operator at the later stage of the algorithm to im-prove the local search accuracy of the algorithm at the later stage of the algorithm.The aubo-i10 collaborative ma-nipulator is used as the object for time optimization simulation,and the results show that the optimization time of the improved genetic algorithm is reduced by about 1.2 s compared with the traditional genetic algorithm,and the angular velocity and angular acceleration curves of the joints of the manipulator are smooth and continuous and satisfy the maximum constraints,which proves the feasibility and effectiveness of the algorithm.
万方数据
维普
