Trajectory Planning of ER8 Robot Based on Improved Particle Swarm Algorithm
In order to improve the problems of low work efficiency,insufficient stability and precocious rip-ening of traditional particle swarm algorithms,a time-optimal trajectory planning algorithm based on im-proved particle swarm algorithm is proposed.By improving the inertial weight and learning factors of the particle swarm algorithm,the local and global search capabilities of the particle swarm algorithm are opti-mized.Firstly,taking the domestic ER8 robot as the research object,uses the improved D-H parameter method to obtain the robot linkage parameter data,and at the same time calculates the trajectory interpola-tion and point through the kinematic positive and inverse solution theory.Secondly,the ER8 robot simula-tion model is established by using the MATLAB robot toolbox.Because the theoretical value of the positive and inverse solution is completely consistent with the simulation results,it proves the correctness of the built simulation model.Finally,through MATIAB simulation,information such as the position,speed and acceler-ation of each joint in the trajectory of the robot′s 3-5-3 polynomial interpolation structure is obtained.Under the premise of meeting the kinematic constraints,the trajectory of the 3-5-3 hybrid polynomial interpolation structure is optimized by using the improved particle swarm algorithm.The robot is used to complete The trajectory time has been reduced from 3 s to 1.037 5 s.Compared with before optimization,the overall run-ning time has been shortened by about 65%,which proves that the improved particle swarm algorithm in the article can effectively realize the optimal trajectory planning.
万方数据
维普
