海南大学学报（自然科学版）2025，Vol.43Issue(3)：282-288,7.DOI:10.15886/j.cnki.hdxbzkb.2024030301
基于改进高尔夫优化算法的机械臂时间最优轨迹规划
Time-optimal trajectory planning of manipulator based on the improved golf optimization algorithm
摘要
Abstract
Addressing the time-optimal trajectory planning problem for manipulators,this paper proposes a trajectory optimization method based on an improved golf optimization algorithm.The chaotic mapping and adaptive weight factors were introduced to avoid getting stuck in local optimization.The simulation compare was performed to compare the proposed algorithm with the various different algorithms,the benchmark test functions were used for validating.The results indicated that the proposed algorithm has faster convergence speed and higher optimization accuracy than various different algorithms.The improved golf optimization algorithm was used to simulate the optimal trajectory planning of a 6-DOF manipulator.The proposed algorithm can reduce the trajectory running time from 10 seconds to 6.04 seconds,which suggested that the proposed algorithm can effectively reduce trajectory running time and maintain the stability of the trajectory.关键词
机械臂/轨迹规划/时间最优/改进高尔夫优化算法Key words
manipulator/trajectory planning/time optimization/the improved golf optimization algorithm分类
信息技术与安全科学引用本文复制引用
袁磊,杨振超..基于改进高尔夫优化算法的机械臂时间最优轨迹规划[J].海南大学学报（自然科学版）,2025,43(3):282-288,7.基金项目
海南省自然科学基金项目(520RC535) （520RC535）
海南省高等学校教育教学改革研究项目(HnjgY2022-7) （HnjgY2022-7）
