信息与控制2024，Vol.53Issue(6)：739-749,11.DOI:10.13976/j.cnki.xk.2024.3515
基于自适应混沌麻雀搜索算法的机械臂最优时间轨迹规划
Optimal Time Trajectory Planning of Robotic Arm Based on Adaptive Chaotic Sparrow Search Algorithm
摘要
Abstract
To address the inefficiency and instability in robotic arm joint movements during optimal time trajectory planning,we introduce a novel planning strategy based on an adaptive chaotic sparrow search algorithm.First,during the trajectory planning process,the duration of each phase is optimized regarding the constraints of the angle,angular velocity,and angular acceleration of each joint.Trajectory points are interpolated using the 4-5-4 polynomial interpolation algorithm.Second,the Tent lens inverse imaging strategy,adaptive weight strategy,and Cauchy mutation strategy are incorporated into the traditional sparrow search algorithm to improve its convergence accuracy and convergence speed.Finally,experimental verification is conducted using a 6-degree-of-freedom manipulator.Simulation results indicate a significant reduction in the running time of the manipulator and smoother operation achieved with the improved algorithm for trajectory planning.关键词
机械臂/麻雀搜索算法/最优时间/轨迹规划/多项式插值Key words
robotic arm/sparrow search algorithm/optimal time/trajectory planning/polynomial interpolation分类
信息技术与安全科学引用本文复制引用
赵亮,刘瑞雪,张玮奇,吴静文,陈锋..基于自适应混沌麻雀搜索算法的机械臂最优时间轨迹规划[J].信息与控制,2024,53(6):739-749,11.基金项目
国家自然科学基金项目(51209167,12002251) （51209167,12002251）
安徽省重点研发项目(2022a05020014) （2022a05020014）
