现代制造工程Issue(6)：67-72,128,7.DOI:10.16731/j.cnki.1671-3133.2025.06.007
基于改进粒子群算法的焊接机械臂轨迹规划方法
Welding robot arm trajectory planning method based on improved particle swarm algorithm
摘要
Abstract
In order to improve the efficiency of welding robotic arm in different obstacle environments,a multi-strategy improved particle swarm algorithm for obstacle avoidance trajectory planning was proposed.The first three joints of the robotic arm were in-terpolated using a 6th degree polynomial function to obtain the motion trajectory.The inertia weights and learning factors of the particle swarm optimization algorithm were dynamically adjusted to balance the global and local search ability of the algorithm;the dynamic lens imaging reverse learning strategy was introduced,and the restart strategy and greedy algorithm were integrated to en-hance the ability of the algorithm to jump out of the local optimum.The IRT120 robotic arm was taken as the research object and simulated by MATLAB software.The simulation results show that the improved particle swarm algorithm has significant improve-ments in convergence speed and optimization accuracy,and the motion trajectory is smooth without sudden changes.关键词
机械臂/粒子群优化算法/反向学习策略/避障轨迹规划Key words
robotic arm/particle swarm optimization algorithm/reverse learning strategy/obstacle avoidance trajectory planning分类
计算机与自动化引用本文复制引用
景会成,张冰珂,张靖轩,郭明亮,孙晋超..基于改进粒子群算法的焊接机械臂轨迹规划方法[J].现代制造工程,2025,(6):67-72,128,7.基金项目
河北省教育厅科学研究项目资助项目(CXY2024013) （CXY2024013）
