[1]李小为,胡立坤,王琥.速度约束下PSO的六自由度机械臂时间最优轨迹规划[J].智能系统学报,2015,10(03):393-398.[doi:10.3969/j.issn.1673-4785.201404035]
 LI Xiaowei,HU Likun,WANG Hu.PSO-based time optimal trajectory planning for six degrees of freedom robot manipulators with speed constraints[J].CAAI Transactions on Intelligent Systems,2015,10(03):393-398.[doi:10.3969/j.issn.1673-4785.201404035]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年03期
页码:
393-398
栏目:
出版日期:
2015-06-25

文章信息/Info

Title:
PSO-based time optimal trajectory planning for six degrees of freedom robot manipulators with speed constraints
作者:
李小为 胡立坤 王琥
广西大学 电气工程学院, 广西 南宁 530004
Author(s):
LI Xiaowei HU Likun WANG Hu
College of Electrical Engineering, Guangxi University, Nanning 530004, China
关键词:
机器人六自由度机械臂粒子群优化轨迹规划多项式插值速度约束时间最优
Keywords:
robot6 DOF manipulatorsparticle swarm optimizationtrajectory planningpolynomial interpolationspeed constraintstime optimal
分类号:
TP183
DOI:
10.3969/j.issn.1673-4785.201404035
文献标志码:
A
摘要:
以六自由度机械臂的运动学正逆解为前提条件,在关节空间中根据插值点设计机器人的运动轨迹,为使机械臂在不同的速度约束下以最短时间运行,提出了粒子群优化速度约束下的时间最优3-5-3多项式插值轨迹规划方法.粒子群算法结构简单、实现容易,参数易调整,直接选择以多项式插值时间为变量的搜索空间中进行PSO优化,并且对不符合速度约束条件的插值时间进行筛选.通过离化得到六自由度机械臂限速运行下的最短时间,在机器人控制平台上进行实时实验,得到关节运动位置、速度、加速度曲线,证明了该方法能够准确地实现任意速度约束的时间最优轨迹规划.
Abstract:
The trajectory planning is designed for robot manipulators in the joint space according to interpolation points on the premise of the solutions to the forward and inverse kinematics problems of 6-DOF (depth of field) manipulators. This paper puts forward the particle swarm optimization (PSO)-based time optimal trajectory planning of the 3-5-3 polynomial interpolation method in order to make mechanical arms run in the shortest time at a constrained speed. The PSO is proposed to optimize run time due to its simple structure and easily adjustable parameters. The polynomial interpolation time rather than coefficient is selected as searching variable in PSO optimization. If the interpolation time of three polynomials doesn’t meet the constraints, the particle will be excluded by comparison. The shortest time of the 6-DOF manipulators running at different speeds is obtained by offline PSO. Real-time experiments are conducted on the robot control platform. It shows that this method can accurately realize time optimal trajectory planning at any speed through its position, velocity and acceleration curves.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2014-4-18;改回日期:。
基金项目:广西自然科学基金资助项目(2012GXNSF BA053144).
作者简介:李小为,女,1989年生,硕士研究生,主要研究方向为机器人、先进控制理论与技术.胡立坤,男,1977年生,教授,主要研究方向是非线性系统动力学与控制、光/风/蓄分布式电源转换与控制、工业测控网络应用.作为主要参与人参与国家自然科学基金项目2项,承担广西科技开发计划项目2项、广西自然科学基金1项和企业横向项目5项.获得软件著作权1项,实用新型专利1项,申请发明专利8项.发表学术论文50余篇,其中被SCI检索2篇,EI检索14篇.王琥,男,1990年生,硕士研究生,主要研究方向为机器人视觉、先进控制理论与技术.
通讯作者:李小为. E-mail: maxwelllxw@163.com.
更新日期/Last Update: 2015-07-15