摘要
Abstract
For the trajectory planning optimization problem of a six-degree-of-freedom robotic arm,a multi-objective trajectory planning method based on an improved non-dominated sorting firefly algorithm is proposed.The motion trajectory of the robotic arm is in-terpolated using a seventh-order B-spline interpolation algorithm.With the shortest time and minimal impact(jerk)as optimization objec-tives,a mathematical model is established.The non-dominated sorting firefly algorithm is employed to optimize the robotic arm trajectory,obtaining an ideal Pareto solution set.This algorithm utilizes one-dimensional Logistic mapping to generate the initial population and em-ploys infeasibility degree selection operations to handle constraints.Additionally,the algorithm adopts an elite guidance strategy with compound perturbations,enhancing global exploration capabilities by applying dynamic Gaussian perturbations to non-elite individuals and Lévy flight perturbations to stagnant individuals.Simulation results demonstrate that:the seventh-order B-spline interpolation yields smooth and continuous robotic arm motion trajectories;the non-dominated sorting firefly algorithm conducts effective multi-objective op-timization,achieving an ideal Pareto front.Simulation results indicate that the improved method reduces time and impact by 8.12%and 34.59%,respectively.关键词
六自由度机械臂/轨迹规划/非支配排序萤火虫算法/Pareto最优解Key words
6-DOF/Trajectory planning/Non-dominated sorting firefly algorithm/Pareto optimum分类
信息技术与安全科学
