现代制造工程Issue(8)：68-74,7.DOI:10.16731/j.cnki.1671-3133.2026.08.009
基于自适应动态粒子群优化算法的多自由度机械臂高效能运动轨迹优化
Efficient motion trajectory optimization of multi-degree-of-freedom robotic arm based on adaptive dynamic particle swarm optimization algorithm
摘要
Abstract
To address the issues of low motion efficiency,long operation time and poor stability during the operation of multi-de-gree-of-freedom hydraulic mechanical arms,an Adaptive Dynamic Particle Swarm Optimization(ADPSO)algorithm was proposed to optimize the motion trajectory of the mechanical arms.Firstly,the kinematics of the mechanical arm operation was analyzed,and a five-time B-spline curve was established to fit the motion trajectory of the mechanical arm;then,with the mechanical arm operation time as the optimization objective,an adaptive dynamic particle swarm optimization algorithm was designed to optimize the motion trajectory constructed by the five-time B-spline curve;finally,the standard particle swarm optimization algorithm,the improved particle swarm optimization algorithm and the algorithm proposed were used to optimize the motion trajectory of the me-chanical arm respectively.The simulation results show that the motion time of the mechanical arm obtained by the algorithm pro-posed was 22.61 s,which is improved by 39.2％and 26.1％compared with the other two algorithms respectively,and the motion trajectory was continuous and smooth,verifying the effectiveness of the algorithm proposed for the motion trajectory optimization of multi-degree-of-freedom mechanical arms,and enabling efficient movement of multi-degree-of-freedom mechanical arms.关键词
轨迹优化/时间最优/粒子群优化算法/动态调整Key words
trajectory optimization/time optimization/particle swarm optimization algorithm/dynamic adjustment分类
信息技术与安全科学引用本文复制引用
辛少宇,李淑君,王彩红..基于自适应动态粒子群优化算法的多自由度机械臂高效能运动轨迹优化[J].现代制造工程,2026,(8):68-74,7.基金项目
广东省技工教育和职业培训省级教学研究课题项目(KT2017004) （KT2017004）
