摘要
Abstract
Aiming at the problems of low motion efficiency and insufficient stability of the mechanical arm,a trajectory planning meth-od based on the improved dung beetle algorithm is proposed.Taking the PUMA-560 mechanical arm as the research object,under the speed constraint conditions,the improved dung beetle algorithm is used to plan the shortest time for the 3-5-3 polynomial interpolation motion tra-jectory of the mechanical arm.Firstly,the Chebyshev chaotic mapping is used to optimize the initial population to improve the quality of indi-viduals.Secondly,the golden sine algorithm is introduced into the position update strategy of the foraging dung beetle to achieve dynamic in-dividual search and improve the algorithm's traversal ability.Finally,a dynamic weight is added to the position of the stealing dung beetle to expand the search range of the algorithm and balance global exploration and local exploitation.The convergence efficiency and solution accu-racy of the improved dung beetle optimization algorithm have been significantly improved.The algorithm is applied to the time-optimal tra-jectory planning of the mechanical arm.The simulation results show that the joint motion curve of the mechanical arm is smooth and continu-ous without sudden changes,and the motion time is reduced by 71%,verifying the feasibility and effectiveness of the scheme.关键词
PUMA-560机械臂/3-5-3多项式/蜣螂优化算法/时间最优Key words
PUMA-560 robotic arm/3-5-3 Polynomials/Dung beetle optimization algorithm/Time optimization分类
信息技术与安全科学
