We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
电能表检验台体串联机械臂时间最优轨迹规划.
- Authors
欧 新; 周 璐; 张 鸷; 吴月家; 赵云斌
- Abstract
Time optimal trajectory planning is helpful to shorten the movement time and improve the working efficiency of the manipulator, which plays a crucial role in the practical application scenarios of the manipulator. An optimal trajectory planning method based on an improved multi-population genetic algorithm is proposed to solve the point-to-point time- optimal trajectory planning problem of tandem robotic arms. The algorithm firstly fits the motion path of the robot arm through the fifth-degree polynomial interpolation and then optimizes the motion time of the robot arm by using the improved multi-population genetic algorithm. The improvements include:designing the fitness function with penalty term to reduce the probability of the individual being selected who does not meet the kinematic constraints. Greedy selection strategy is introduced to retain the excellent individuals in the parent population and replace the poor ones in the offspring population in proportion. The convergence speed of the algorithm is accelerated by adaptive adjustment of crossover and mutation probability. Finally, the feasibility of the proposed algorithm is verified by simulation experiments with ER- 4iA robotic arm and compared with ant colony algorithm, particle swarm algorithm, standard genetic algorithm, and standard multi- population genetic algorithm, the results show that the proposed algorithm has better performance.
- Subjects
ROBOT motion; ALGORITHMS; INTERPOLATION; POLYNOMIALS; PROBABILITY theory; MANIPULATORS (Machinery); GENETIC algorithms; ANT algorithms
- Publication
Journal of Computer Engineering & Applications, 2022, Vol 58, Issue 6, p250
- ISSN
1002-8331
- Publication type
Article
- DOI
10.3778/j.issn.1002-8331.2009-0455