摘要
为了解决六自由度械臂末端轨迹的平稳性和效率的问题,针对多关节机械臂末端轨迹提出了一种基于改进蚁群算法的多关节机械臂轨迹规划。采用了关节空间轨迹方法包括B样条插值、三次多项式插值和五次多项式插值进行实验分析论证,同时根据改进的蚁群算法对机械臂的轨迹进行规划,对比位置的准确性、轨迹的连续性、加速度的变化率,确定最后的轨迹规划算法为改进的蚁群算法与多项式轨迹规划相结合效果最好。
In order to solve the problem of stability and efficiency of the end trajectory of multi-six-degree-of-freedom robotic arm,this paper proposes a multi-joint manipulator trajectory planning based on improved ant colony algorithm for the end trajectory of multi-joint manipulator arm.The joint spatial trajectory method including B-spline interpolation,cubic polynomial interpolation and five-order polynomial interpolation are used for experimental analysis and demonstration,and the trajectory of the robotic arm is planned according to the improved ant colony algorithm,and the accuracy of position,the continuity of the trajectory and the rate of change of acceleration are compared,and the final trajectory planning algorithm is determined to be the best combination of the improved ant colony algorithm and polynomial trajectory planning.
出处
《工业控制计算机》
2023年第9期67-70,共4页
Industrial Control Computer
基金
新疆维吾尔自治区教育厅高校科研项目(2017XJEDU2017S052)
新疆维吾尔自治区自然科学基金项目(2016D01C032)。
关键词
改进蚁群算法
多关节机械臂
轨迹规划
improved ant colony algorithm
multi-joint robotic arm
trajectory planning
