Time-optimal Trajectory Planning of Dulcimer Music Robot Based on PSO Algorithm

摘要

For a dulcimer music robot that strikes a dulcimer, fast and high-frequency striking is a key requirement, so the time optimization of the trajectory planning of the robot arm is the first problem to be solved in motion control. In this paper, the kinematics modeling and solving are firstly completed by using the D-H parameter method. Then the steps of trajectory planning by interpolation and the application of basic PSO algorithm are introduced. As for the deficiency of only velocity constraint, we propose an improve PSO algorithm considering complete kinematic constraints of all joints, which can ensure that the optimal trajectory planned is reasonable. Finally, the simulation experiments of time optimization and trajectory planning are carried out in MATLAB. Experiments show that after optimizing the interpolation time by the improved PSO algorithm under the kinematic constraints, the total time of trajectory planning of the robot is greatly reduced by 74.35%; and the planned time-optimal trajectory curves are continuous and smooth, which meets the requirements of motion stability of the manipulator. As a result, the efficiency of the improved PSO algorithm applied to time-optimal trajectory planning of robot is verified.