中国机械工程2025，Vol.36Issue(5)：1044-1053,10.DOI:10.3969/j.issn.1004-132X.2025.05.016
多策略改进粒子群算法的机械臂时间最优轨迹规划
Time-optimal Trajectory Planning of Robotic Arms Based on MIPSO Algorithm
摘要
Abstract
For the tasks of industrial robots finishing their work in the quickest possible time while meeting kinematics limitations,a time-optimal trajectory planning scheme was designed.First-ly,the robotic arms were modeled and analyzed,the kinematics equations were established.A 3-5-3 polynomial function was introduced as the research foundation of trajectory planning,and a time-opti-mal objective function was constructed under kinematics restrictions.Then,based on the improve-ment and optimization of the standard particle swarm optimization algorithm,a MIPSO algorithm was proposed by using tent chaotic mapping to initialize the population.Additionally,dynamically varying learning factors,nonlinearly decreasing modified inertia weights,and mutation operations in genetic algorithms were introduced.Finally,various algorithms were employed to optimize the robotic arm's operating time,and the comparative results reveal that the MIPSO algorithm achieves a greater level of solution accuracy.The optimal time obtained from the solution is applied to the physical robotic arms,and the joint motion curves obtained are continuous without abrupt changes,which verifies the feasibility of the proposed scheme.关键词
工业机器人/3-5-3多项式/时间最优/多策略改进粒子群算法Key words
industrial robot/3-5-3 polynomial function/time-optimal/multi-strategy improved particle swarm optimization(MIPSO)algorithm分类
信息技术与安全科学引用本文复制引用
王桂荣,倪志强,周坤,王斌锐..多策略改进粒子群算法的机械臂时间最优轨迹规划[J].中国机械工程,2025,36(5):1044-1053,10.基金项目
浙江省自然科学基金(LGG22F030001) （LGG22F030001）
