工程设计学报2025，Vol.32Issue(5)：664-674,11.DOI:10.3785/j.issn.1006-754X.2025.05.111
基于改进麻雀搜索算法的机械臂多目标轨迹优化方法
Multi-objective trajectory optimization method for manipulator based on improved sparrow search algorithm
摘要
Abstract
Aiming at the problems such as low operational efficiency and mechanical fatigue damage caused by impact and vibration in traditional manipulators during task execution,a multi-objective trajectory optimization method based on an improved sparrow search algorithm(SSA)is proposed.Taking the six-degree-of-freedom AR4 manipulator as the research object,its kinematic model was constructed by using the segmented 3-5-3 polynomial interpolation method.Then,based on the newly improved SSA(NISSA)that integrated Tent-Logistic chaotic mapping,improved elite opposition-based learning strategy and Cauchy-Gaussian mutation strategy,the multi-objective collaborative optimization was carried out for the operation time and impact of each joint of the manipulator.Finally,comparative experiments were conducted with other optimization algorithms to verify the effectiveness of NISSA.The experimental results showed that after optimization with NISSA,the operation time of the manipulator was shortened by 17.8%,and the impact generated during operation was reduced by 12.9%.The research results provide an efficient method for the trajectory optimization of manipulators.关键词
机械臂/轨迹优化/麻雀搜索算法/Tent-Logistic混沌映射/精英反向学习策略Key words
manipulator/trajectory optimization/sparrow search algorithm/Tent-Logistic chaotic mapping/elite opposition-based learning strategy分类
计算机与自动化引用本文复制引用
李玲,侯玉龙,李瑶,罗丹,解妙霞..基于改进麻雀搜索算法的机械臂多目标轨迹优化方法[J].工程设计学报,2025,32(5):664-674,11.基金项目
国家自然科学基金资助项目(52475124) （52475124）
陕西省重点研发计划资助项目(2024GX-YBXM-206) （2024GX-YBXM-206）
西安市"科学家+工程师"队伍建设项目(24KGDW0026) （24KGDW0026）
