一种改进粒子群算法及其在多目标冗余机器臂轨迹规划中的应用

针对5臂混凝土泵车臂架系统的冗余和原始粒子群算法存在的不足,提出了一种可以求解冗余臂架系统逆动力学问题的粒子群改进算法.改进的粒子群算法,对冗余臂架系统在有障碍和无障碍空间两种工况下的工作轨迹进行了规划,并分别考虑了多个不同重要程度的子目标.通过数值仿真和实验研究,验证了改进的粒子群算法的有效性.最后,通过与传统粒子群算法比较,进一步验证了所提出的改进粒子群算法的优越性.

Multi-objective trajectory planning of redundant manipulators based on an improved particle swarm optimization and application

Because of the redundance of boom system of five-arm concrete pump truck and some drawback of the original particle swarm optimization (PSO)algorithm,an improved PSO algorithm is presented to solve the inverse kinematic problem of the redundant boom system. By the improved PSO algorithm the multi-objective trajectory planning of the redundant boom system that works in a workspace without obstacle and with obstacles is optimized, which consider different importance degree of the sub-goals respectively. By the simulation study and experiment study the optimal results verify the effectiveness of the improved PSO. At the same time the performance of the im-proved PSO is compared with that of the PSO,and the superiority is further demonstrated.