四川轻化工大学学报（自然科学版）2024，Vol.37Issue(4)：28-35,8.DOI:10.11863/j.suse.2024.04.04
基于粒子群优化算法的焊接机械臂轨迹规划
Trajectory Planning of Welding Manipulator Based on Particle Swarm Optimization Algorithm
摘要
Abstract
Aiming at the trajectory planning problem of welding manipulator,a method to change the learning factor in the traditional particle swarm optimization algorithm is proposed.The particle learning factor of the traditional particle swarm algorithm takes a random number between 0 and 1 in the iterative process,which greatly affects the calculation speed of the algorithm.This article firstly construct the function according to the operational background of the welding robotic arm,so that the learning factors are sequentially taken with the number of iterations,greatly improving the algorithm's calculation speed and reducing the trajectory planning and motion time of the robot arm.Secondly,the model of the welding manipulator is constructed,the D-H parameter axis of the manipulator and the coordinate system of each member are constructed,and the kinematic equation of the manipulator is established.Finally,the trajectory planning and kinematic simulation are carried out by MATLAB,and the comparison and convergence velocity diagram of the manipulator before and after the improvement are obtained.The results show that the pathfinding time of the traditional particle swarm algorithm is about 9.0 s,while the pathfinding time of the improved particle swarm algorithm is about 2.1 s and the optimization time is 6.9 s,so that the efficiency of the robotic arm to find the target is greatly improved.This study is of great significance for improving the efficiency and accuracy of trajectory planning of welding manipulators.关键词
粒子群优化算法/焊接机器人/D-H参数轴Key words
particle swarm optimization algorithm/welding robot/D-H parameter axis分类
信息技术与安全科学引用本文复制引用
卢文龙,靳华伟,陈建..基于粒子群优化算法的焊接机械臂轨迹规划[J].四川轻化工大学学报（自然科学版）,2024,37(4):28-35,8.基金项目
国家自然科学基金项目(51904009) （51904009）
安徽省矿山智能装备与技术重点实验室开放基金资助项目(ZKSYS202102) （ZKSYS202102）
