一种机械臂时间-冲击轨迹的快速求解优化方法

针对NSGA-II算法优化机械臂轨迹耗费计算时间的问题,提出一种时间-冲击轨迹规划优化方法。采用均匀五次B样条函数在关节空间内构造插值曲线,在运动学约束的条件下,利用牛顿法对目标函数进行迭代求解。仿真结果表明:结合牛顿法与埃特金加速法对五次B样条函数插值轨迹规划的时间和冲击进行优化求解,寻优时间短,保证在运动学约束下产生较小的冲击以及缩短机械臂的运动时间,使得机械臂的运动控制性能得到提高。

A Fast Optimization Method for Time Impact Trajectory of Manipulator

In order to solve the time consuming problem of NSGA-II algorithm in optimizing manipulator trajectory, a time impact trajectory planning optimization method was proposed. The interpolation curve was constructed in joint space by using the uniform quintic B-spline function, and the objective function was solved iteratively by using Newton method under the condition of motion constraint. The simulation results show that Newton method and Aitken acceleration method are combined to optimize the time and impact of quintic B-spline interpolation trajectory planning, the optimization time is decreased, it is ensured the impact under kinematic constraints is smaller and the movement time of the manipulator is reduced, so the motion control performance of the manipulator is improved.