基于改进正余弦算法的机械臂轨迹规划
Trajectory Planning of Manipulator Based on Improved Sine Cosine Optimization Algorithm
潘明章 1潘雷 1李昌伦 1梁科 1姚博炜2
作者信息
- 1. 广西大学机械工程学院,南宁 530004
- 2. 柳州赛克科技发展有限公司,柳州 545005
- 折叠
摘要
为尽可能提高机械臂的工作效率,提出了一种基于改进正余弦算法的时间最优3-5-3 多项式插值轨迹规划算法,根据适应度动态调整平衡因子,优化了算法的局部开发能力,并通过引入Lévy飞行加强了算法全局搜索的能力.以UR5e机械臂为研究对象,利用机器人运动学获得多项式插值轨迹;在角度,角速度和角加速度的约束下,使用改进正余弦算法对轨迹插值时间进行优化;通过MATLAB软件进行仿真实验,并与其他优化算法进行实验对照.结果表明,改进正余弦算法具有更快的收敛速度和更高的寻优精度,能有效减少机械臂的运行时间.
Abstract
To improve the efficiency of the manipulator as much as possible,a time-optimal 3-5-3 polyno-mial interpolation trajectory planning algorithm based on the improved positive cosine algorithm was pro-posed,which optimizes the local exploitation capability of the algorithm by dynamically adjusting the bal-ance factor according to the fitness,and enhances the global search capability of the algorithm by introdu-cing Lévy flight.Taking the UR5e robot as the research object,the polynomial interpolation trajectory was obtained by using robot kinematics;under the constraints of angle,angular velocity and angular accelera-tion,the trajectory interpolation time is optimized by using the improved sine cosine algorithm;simulation experiments are conducted by MATLAB software,and experimental comparison is made with other optimi-zation algorithms.The results show that the improved sine cosine algorithm has a faster convergence speed and higher optimization-seeking accuracy,which can effectively reduce the running time of the manipulator.
关键词
机械臂/多项式插值/正余弦算法/轨迹规划/时间最优Key words
manipulator/polynomial interpolation/sine cosine optimization/trajectory planning/time optimal引用本文复制引用
基金项目
广西科技重大专项项目(桂科AA22068102)
广西重点研发计划项目(桂科AB22080084)
柳州市科技重大专项项目(2022ABA0105)
出版年
2024
NETL
NSTL
维普
万方数据