机械科学与技术2026，Vol.45Issue(8)：1297-1306,10.DOI:10.13433/j.cnki.1003-8728.20240146
改进NSGA-Ⅱ算法的机械臂多目标轨迹优化
Improved NSGA-Ⅱ Algorithm of Multi-target Trajectory Optimization of Manipulator
摘要
Abstract
In response to the limitations of the traditional non-dominated sorting genetic algorithm-Ⅱ(NSGA-Ⅱ algorithm),which tends to get stuck in local optimal and has slow convergence when applied to trajectory optimization with multiple objectives such as time optimization,low energy consumption,and minimal pulsation impact,an enhanced multi-objective optimization algorithm is proposed.The present approach involves the optimal point set for optimizing initial population generation in multi-objective problems,introducing a DC operator and multiple evolutionary strategies,and implementing population optimization strategies to enhance the generation of new populations.An improved SDE-NSGA-Ⅱ algorithm of multi-objective trajectory optimization of manipulator was developed and its performance was simulated.Finally,the algorithm was validated on the JAKA Zu3 robot arm.The results demonstrate that the enhanced algorithm provides a more evenly distributed Pareto optimal solution set and shorter iteration times.Additionally,a 7th-order B-spline curve interpolation method can be utilized to construct a continuous smooth trajectory of joint velocity,acceleration,and jerk in order to ensure effective manipulator operation.关键词
轨迹优化/多目标优化/NSGA-Ⅱ算法/动态进化策略Key words
trajectory optimization/multi-objective optimization/NSGA-II Algorithm/dynamic evolutionary strategies分类
信息技术与安全科学引用本文复制引用
吴飞,袁来,沈大伟..改进NSGA-Ⅱ算法的机械臂多目标轨迹优化[J].机械科学与技术,2026,45(8):1297-1306,10.基金项目
国家自然科学基金青年项目(52005376) （52005376）
