摘要
以弹药装填机器人为研究对象,针对弹药装填机器人关节空间的时间最优轨迹规划,提出了一种基于改进黑猩猩算法的时间最优轨迹规划算法。通过逆运动学求出弹药装填机器人的关节空间路径插值点,采用3-5-3多项式插值构造弹药装填机器人轨迹,建立以时间最优为目标的目标函数,再与其他同类型算法进行比较,对比结果显示,采用改进黑猩猩算法求解精度更高,收敛速度更快。在速度约束条件下,基于改进黑猩猩算法进行轨迹优化,得到平滑的机器人位置、速度和加速度曲线。结果表明,采用改进黑猩猩算法进行弹药装填机器人轨迹规划,能够缩短机器人的装填时间,提高机器人的装填效率。
Taking an ammunition loading robot as the research object,a time optimal trajectory planning algorithm based on the improved chimpanzee algorithm is proposed for the time optimal trajectory planning of the joint space of the ammunition loading robot.Firstly,joint space path interpolation points of the ammunition loading robot are obtained through inverse kinematics,then the trajectory of the ammunition loading robot is constructed by 3-5-3 polynomial interpolation,and the objective function aiming at time optimization is established.It is then compared with other similar algorithms.Comparison results show that the improved chimpanzee algorithm has higher accuracy and faster convergence speed.Finally,under the condition of speed constraints,the trajectory is optimized based on the improved chimpanzee algorithm,and smooth curves of robot position,speed and acceleration are obtained.The results show that trajectory planning of the ammunition loading robot using the improved chimpanzee algorithm can shorten the loading time of the robot and improve its loading efficiency.
作者
徐达
王兆阳
李华
王小闯
曹振地
XU Da;WANG Zhaoyang;LI Hua;WANG Xiaochuang;CAO Zhendi(Department of Weapons and Control,Army Academy of Armored Forces,Beijing 100072,China)
出处
《火炮发射与控制学报》
北大核心
2023年第1期76-81,共6页
Journal of Gun Launch & Control
关键词
弹药装填
改进黑猩猩算法
时间最优
机器人
ammunition loading
improved chimpanzee algorithm
optimal time
robot
作者简介
徐达(1969-),男,博士,教授,研究方向为弹药装填机器人。
