排爆机械臂多目标轨迹规划研究

针对排爆机械臂轨迹规划问题，提出多目标轨迹规划方法。建立三次样条曲线分段轨迹描述方程，采用外加虚拟点法保证三次样条曲线可任意指定轨迹初始速度、加速度，提出灵活性优化目标以提高机构灵活性；将优化目标及运动学约束以轨迹方程参数表示，转化为对各段运动时间的寻优；采用CNSGA-II对排爆机械臂运动进行多目标轨迹优化，处理非线性约束最优化，建立排爆机械臂多目标轨迹规划算法流程。结果表明，该方法能有效提高规划结果灵活性，各项目标均优于线性加权单目标规划，所得轨迹平滑可控。

Research on multi-objective trajectory planning of EOD manipulators

A multi-ojective optimization technique is presented to solve the problem of EOD manipulators’ trajectory planning.At first, cubic splines are used to connect every pair of consecutive via-points. Two virtual points are introduced to ensure the initial and final conditions for velocity and acceleration can be respected. Manipulability objective is developed to enhance the manipulability of mechanism. The objective functions and kinematic constraints are presented by parameters of cubic spine, so that the problem transform into the optimization of every time interval. Second, constraint NSGA-II is adopted to plan the multi-objective trajectory， which is suitable to solving optimization problems with nonlinear constraints. The process of algorithm based on NSGA-II is created. Finally, compared to traditional method, simulation results proposed that the developed technique improve the manipulability effectively and every optimizing index is better than the results of linear weighting coefficient technique. The obtained trajectories are smooth enough and easy to control.