改进麻雀搜索算法下机械臂轨迹规划
Mechanical Arm Rajectory Planning with Improved Sparrow Search Algorithm
赵玮凡 1李波 1李金泉1
作者信息
- 1. 沈阳理工大学机械工程学院,沈阳 110159
- 折叠
摘要
针对数控加工机器人的工作抖动问题,考虑机床工作精密度、时间、能耗指标,提出一种时间寻优的改进麻雀搜索优化算法.使用D-H参数构建机械臂数学模型,在MATLAB环境下对已建立模型进行仿真分析,利用3-5-3 多项式插值法对机械臂空间轨迹路线分析,并提出麻雀搜索算法优化方案,对比传统算法及改进后机械臂关节速度及加速度曲线,明确优化后算法高效性,对比其他优化算法,确定机械臂时间最优解.研究结果表明,改进麻雀搜索算法粒子收敛速度提升43%,最优解收敛精度提升8%,机械臂轨迹规划用时明显缩短,轨迹规划达到预期,有效提高算法收敛效率及求解精度.
Abstract
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.
关键词
机械臂/仿真/改进麻雀搜索算法/收敛精度/轨迹规划Key words
robotic arm/simulation/improved sparrow search algorithm/convergence accuracy/trajectory planning引用本文复制引用
基金项目
国家级大学生创新创业训练计划(202210144006)
出版年
2024
NETL
NSTL
万方数据