| 基于GA的时间最优机械臂轨迹规划算法 |
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| 引用本文： | 居鹤华,付荣. 基于GA的时间最优机械臂轨迹规划算法[J]. 控制工程, 2012, 19(3): 472-477 |
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| 作者姓名： | 居鹤华 付荣 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家863项目(2008AA0085);国家自然科学基金(60975065) |
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| 摘 要： | 由于多项式插值轨迹规划具有阶次高、没有凸包性质等特点,传统优化方法难以应用的特点,根据机械臂运动学约束,提出了关节空间基于遗传算法(GA)的3-5-3多项式插值轨迹规划算法。利用运动学约束,以最优时间为目标,针对关节型机器人在静态环境下的点到点的轨迹规划问题,利用GA算法解算多项式插值的时间。通过与基于PSO的3-5-3多项式机械臂轨迹规划运动位置、速度、加速度曲线对比,证明该方法在运行时间和运行平稳度上都有突出优点。
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| 关 键 词： | 机械臂 轨迹规划 时间最优 遗传算法 多项式插值 |
Time-Optimal Trajectory Planning Algorithm Based on GA for Manipulator |
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| JU He-hua , FU Rong. Time-Optimal Trajectory Planning Algorithm Based on GA for Manipulator[J]. Control Engineering of China, 2012, 19(3): 472-477 |
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| Authors: | JU He-hua FU Rong |
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| Affiliation: | (College of Electronic Information and Control Engineering,Beijing University of Technology,Beijing 100124,China) |
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| Abstract: | Since polynomial is high order and has not share the characteristic of convex hull,it is hard to be optimized by traditional optimization methods.According to the velocity limitation of manipulator,a Time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on Genetic Algorithm(GA) is proposed.To plan the point-to-point trajectories for manipulator working in a static environment for time-optimal,GA is used to get the time of polynomial interpolation.The simulation results show that the algorithm has good performance on time-optimal and stability compared with 3-5-3 polynomial interpolation trajectory planning algorithm based on PSO. |
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| Keywords: | manipulator trajectory planning time-optimal GA polynomial interpolation |
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