SCARA Multi-Objective Motion Planning Based on n-Order S-Shaped Curve
In order to effectively suppress the vibration generated during the motion of SCARA robot,this paper firstly establishes a simplified floating frame of reference dynamics model of SCARA robot,then con-structs a multi-objective optimization model that simultaneously optimizes the positioning time and the im-pact on SCARA robot by using n-order S-shaped curve line,and finally the NSGA-Ⅱ algorithm based on Kriging model is used to solve the optimization problem.The Pareto fronts of the multi-objective optimiza-tion problem show that the positioning time of the fourth-order S-curve line is approximately the same as that of the third-order S-curve line,but the impact caused is much smaller than that of the third-order S-curve line.Simulations of the optimization results also show that the SCARA robot driven by a fourth-order S-curve line runs more smoothly and generates much less residual vibration than a third-order S-curve line.The research of this paper shows that the fourth-order S-curve line has better vibration suppression perform-ance than the third-order S-curve line,and it has the value to be widely used in engineering.
NETL
NSTL
万方数据
维普
