高技术通讯2026，Vol.36Issue(3)：289-297,9.DOI:10.3772/j.issn.1002-0470.2026.03.007
混联冗余机械臂关节轨迹规划研究
Research on joint trajectory planning of hybrid redundant robotic arm
摘要
Abstract
In order to investigate the impact of redundant joints on the motion of a robotic arm,the study is conducted on the redundant joint characteristics of an eight-degree-of-freedom hybrid robotic arm.Based on this,by adjusting the parameters of the particle swarm optimization algorithm and considering the range of motion of each joint,the coeffi-cients of the third-order polynomial trajectory are iteratively optimized to obtain different redundant joint trajecto-ries.Based on the given end effector motion trajectory and redundant joint trajectory,other joint motion trajectories are solved through kinematic inverse solutions.In order to comprehensively evaluate the performance of the robotic arm,a multi-objective model is established with the reduction of robotic arm torque and energy consumption as in-dicators.Simulation results indicate that the introduction of redundant joints can improve the energy consumption of the robotic arm,providing theoretical and methodological support for the robotic arm to perform tasks more flexibly and efficiently in practical applications.关键词
混联机械臂/粒子群算法/冗余关节/轨迹规划/性能评价Key words
hybrid robotic arm/particle swarm optimization/redundant joint/trajectory planning/perform-ance evaluation引用本文复制引用
孙鹏,王标,高玉君,李研彪..混联冗余机械臂关节轨迹规划研究[J].高技术通讯,2026,36(3):289-297,9.基金项目
浙江省自然科学基金(LTGY24E050002,LD24E050003)和国家自然科学基金(U21A20122,52105037)资助项目. （LTGY24E050002,LD24E050003）
