智能系统学报Issue(3)：393-398,6.DOI:10.3969/j.issn.1673-4785.201404035
速度约束下PSO的六自由度机械臂时间最优轨迹规划
PSO-based time optimal trajectory planning for six degrees of freedom robot manipulators with speed constraints
摘要
Abstract
The trajectory planning is designed for robot manipulators in the joint space according to interpolation points on the premise of the solutions to the forward and inverse kinematics problems of 6⁃DOF ( depth of field) ma⁃nipulators. This paper puts forward the particle swarm optimization ( PSO)⁃based time optimal trajectory planning of the 3⁃5⁃3 polynomial interpolation method in order to make mechanical arms run in the shortest time at a constrain⁃ed speed. The PSO is proposed to optimize run time due to its simple structure and easily adjustable parameters. The polynomial interpolation time rather than coefficient is selected as searching variable in PSO optimization. If the interpolation time of three polynomials doesn't meet the constraints, the particle will be excluded by comparison. The shortest time of the 6⁃DOF manipulators running at different speeds is obtained by offline PSO. Real⁃time ex⁃periments are conducted on the robot control platform. It shows that this method can accurately realize time optimal trajectory planning at any speed through its position, velocity and acceleration curves.关键词
机器人/六自由度机械臂/粒子群优化/轨迹规划/多项式插值/速度约束/时间最优Key words
robot/6 DOF manipulators/particle swarm optimization/trajectory planning/polynomial interpola-tion/speed constraints/time optimal分类
信息技术与安全科学引用本文复制引用
李小为,胡立坤,王琥..速度约束下PSO的六自由度机械臂时间最优轨迹规划[J].智能系统学报,2015,(3):393-398,6.基金项目
广西自然科学基金资助项目（2012GXNSF BA053144）． （）
