重庆理工大学学报2024，Vol.38Issue(1)：368-378,11.DOI:10.3969/j.issn.1674-8425(z).2024.01.040
改进粒子群算法在六轴机械臂关节空间轨迹规划中的应用
Spatial trajectory planning method for joints of six-axis robotic arm based on improved particle swarm algorithm
摘要
Abstract
This paper takes the xArm6 robotic arm as the research object and proposes a joint space trajectory planning method based on the time-optimal 3-5-3 segmented polynomial interpolation of the improved particle swarm algorithm.The proposed method improves the operation efficiency and stability of the six-axis robotic arm.It takes the optimal running time of the robotic arm as the objective,and under the constraints of speed,acceleration and variable acceleration,the interpolation time of each segment is optimized by the improved particle swarm algorithm which introduces adaptive inertia weights and probabilistic jump characteristics.Compared with the traditional particle swarm algorithm,the improved particle swarm algorithm reaches a faster iteration speed and is less likely to fall into local optimum.Our results of robotic arm motion simulation show the robotic arm operates smoothly,and the six joints experience not abrupt,but continuous changes in positions,velocities and acceleration,demonstrating the practicality and effectiveness of the method.关键词
6自由度机械臂/改进粒子群算法/轨迹规划/时间最优/多项式插值Key words
xArm6 robotic arm/improved particle swarm algorithm/trajectory planning/time optimization/polynomial interpolation分类
信息技术与安全科学引用本文复制引用
杜超斐,刘睿,丁军,黄霞,金辉..改进粒子群算法在六轴机械臂关节空间轨迹规划中的应用[J].重庆理工大学学报,2024,38(1):368-378,11.基金项目
重庆市教委在渝高校与中科院所属院所合作项目(2021CJZ073) （2021CJZ073）
