Mechanical Arm Rajectory Planning with Improved Sparrow Search Algorithm
Aiming at the work jitter problem of CNC machining robots,a time-seeking improved sparrow search optimization algorithm is proposed considering the machine work precision,time and energy con-sumption.The mathematical model of the robotic arm is constructed by D-H parameters,the established model is simulated and analyzed in MATLAB environment.The 3-5-3 polynomial interpolation method is used to analyze the spatial trajectory route of the robot arm,and a sparrow search algorithm optimization scheme is proposed.Compare the traditional algorithm and the improved robot arm joint speed and accelera-tion curves,clarify the efficiency of the optimized algorithm,compare other optimization algorithms,and determine the robot arm time optimal solution.The research results show that the particle convergence speed of the improved sparrow search algorithm is improved by 43%,the optimal solution convergence accuracy is increased by 8%,the trajectory planning time of the robotic arm is significantly shortened,and the trajec-tory planning meets expectations,which effectively improves the convergence efficiency and solution accu-racy of the algorithm.
NETL
NSTL
万方数据
