摘要
针对机械臂末端执行器轨迹规划问题,本文提出一种基于多策略差分进化算法的机械臂末端轨迹规划。在基本差分进化算法的基础上,引入变异策略和控制参数的候选集合,同时在进化过程中根据进化信息实时从候选集合中选择合适的变异策略和控制参数。以机械臂执行时间为优化目标,结合实时速度与加速度约束限制,采用五次多项式插值方法建立关节空间轨迹规划数学模型,采用多策略差分进化算法求解该轨迹规划数学模型。实验结果表明,相比基本差分进化算法,多策略差分进化算法能在较短时间内完成操作,同时能够使机械臂末端执行器的运行轨迹平滑,是一种有效的轨迹规划方法。
To solve the trajectory planning problem of the manipulator,this paper proposes an optimal time planning algorithm based on multi-strategy differential evolution algorithm.Firstly,a candidate pool of mutation strategies and control parameters are incorporated into differential evolution algorithm.At each iteration,some appropriate mutation strategies and control parameters are selected from these pools for creating aggressive solutions.The planning problem is posed to minimize the travelling time subjected to motion(velocity,acceleration and jerk)constraints and the five order polynomial function is used in order to get a smooth trajectory.The planning problem is solved using the multi-strategy differential evolution algorithm.The experimental results show that,compared with the basic differential evolution algorithm,the multi-strategy differential evolution algorithm got shorter moving time with smooth travelling path.It is an effective method to solving trajectory planning problems.
作者
周佳颖
黄俊超
赵宇凡
宋泽凯
ZHOU Jiaying;HUANG Junchao;ZHAO Yufan;SONG Zekai(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《智能计算机与应用》
2024年第3期223-226,F0003,共5页
Intelligent Computer and Applications
关键词
机械臂
轨迹规划
差分进化算法
多策略
最优时间
manipulator
trajectory planning
differential evolution algorithm
multi-strategy
optimal time
作者简介
周佳颖(2000-),女,本科生,主要研究方向:机械工程,Email:1464086316@qq.com;黄俊超(2000-),男,本科生,主要研究方向:机械工程;赵宇凡(2001-),男,本科生,主要研究方向:机械工程;宋泽凯(2001-),男,本科生,主要研究方向:机械工程。
