Spray Trajectory Optimization of Robot Arm Based on Time-Jerk Optimization
Aiming at the problem of joint vibration affecting spraying quality caused by excessive impact,an optimal spraying trajectory planning method was proposed for the manipulator.The kinematic trajectory of the manipulator was constructed by using the 5-order non-uniform B-spline function,and the mathemati-cal model was established by taking the running time and pulsating impact of the series manipulator as the objective function.The optimal solution set was obtained by improving the multi-objective grey Wolf algo-rithm and the expected solution was obtained by using the normalized weight objective function.KUKA KR_16 series manipulator was selected as the simulation object to carry out spraying simulation analysis on curved workpiece.The results show that the 5-order B-spline interpolation curve can effectively construct the high-order smooth spraying trajectory,and the improved multi-objective gray Wolf algorithm can a-chieve the multi-objective optimization satisfying the constraints,and the optimization effect is better than the NSGA-Ⅱ algorithm.It provides a new idea for the follow-up study of spraying trajectory.
spraying trajectory planningmulti objective optimizationgrey wolf algorithmB-spline func-tionindustrial robot
NETL
NSTL
万方数据
维普
