基于PSO的工业机器人时间-脉动最优轨迹规划

Time-jerk Optimal Trajectory Planning for Industrial Robots Based on PSO Algorithm

摘要:

为提高工业机器人的工作效率,并且保持机器人关节平稳运动,提出一种基于粒子群优化算法的时间-脉动最优轨迹规划方案；通过权重法将多目标优化转化为单目标优化,再运用粒子群优化算法得到时间-脉动最优的运动轨迹；轨迹规划中,采用了关节空间五次非均匀B样条插值法,以确保脉动曲线的连续性；最后以GRB4016工业机器人为研究对象进行仿真实验,结果表明,该方案可以得到较理想的运动轨迹,并验证了方案的有效性。

Abstract:

In order to improve the work efficiency and guarantee the joints’ smooth movement of industrial robots, this paper proposes a scheme of time-jerk optimal trajectory planning based on PSO(particle swarm optimization) algorithm. First, the multi-objective optimization is transformed into single-objective optimization by the approach of weighting. Then, the time-jerk optimal trajectory is obtained by using PSO algorithm. And the trajectory planning is fulfilled in joint space coordinate by quintic non-uniform B-spline interpolation, and which can guarantee the jerk curves’ continuity. Finally, this scheme is applied to GRB4016—an industrial robot. The simulation results show that this scheme can generate ideal trajectory, and demonstrate the effectiveness of the proposed scheme.