机电工程技术2024，Vol.53Issue(8)：115-119,5.DOI:10.3969/j.issn.1009-9492.2024.08.025
基于NSGA-Ⅱ的机械臂最优时间-能量-冲击轨迹规划
Time-energy-jerk Optimal Trajectory Planning of Manipulators Based on NSGA-Ⅱ
摘要
Abstract
Aiming at the multi-objective trajectory optimization problem of optimal joint motion time,energy and jerk of 6R manipulator,an optimal trajectory optimization method of manipulator is proposed based on the interpolation of the joint trajectory of manipulator based on the fifth-order non-uniform B-spline function.The motion trajectory of the end of the manipulator in Cartesian space is discretized into time-pose interpolation points,which are converted into the time-position sequence of each joint of the manipulator through inverse kinematics.The joints'trajectory are constructed with the 5th-order non-uniform B-spline function.The B-spline function and the curve control vertices of each derivative are used to replace the motion constraints of the manipulator.NSGA-Ⅱ is introduced to optimize the manipulator's running time,energy consumption and joint jerk and the perfect Pareto solutions are got.The simulation of ABB IRB120 6R manipulator,the results show that the joint trajectory and derivative curves of each order using the 5th degree B-spline function interpolation are smooth without sudden change,and NSGA-Ⅱ can realize the time-energy-jerk under the constraints of manipulator motion.These optimal multi-objective optimization results in the ideal Pareto solution distribution.Finally,a normalized weighting objective function can be constructed according to actual requirements,and the desired solution can be selected from the pareto solution to obtain a high-order continuous joint motion trajectory.关键词
机械臂/非均匀B样条/轨迹规划/NSGA-Ⅱ:归一权重函数Key words
manipulator/non-uniform B-spline/trajectory planning/NSGA-Ⅱ/normalized weighting objective function分类
信息技术与安全科学引用本文复制引用
陆佳皓,季肖枫,姜伯晨,由佳翰,马建忠..基于NSGA-Ⅱ的机械臂最优时间-能量-冲击轨迹规划[J].机电工程技术,2024,53(8):115-119,5.基金项目
南通市社会民生科技计划项目(MSZ2022166) （MSZ2022166）
江苏航运职业技术学院校级科技项目(HYKY/2021B03) （HYKY/2021B03）
南通市社会民生科技计划项目(MSZ2023007) （MSZ2023007）
