基于遗传算法的四自由度混联机器人轨迹规划

摘要

研究机器人轨迹优化控制问题，为了兼顾机器人高速运动的平稳性与工作效率，以四自由度混联机器人为研究对象，提出了一种基于遗传算法的轨迹规划方案。运用坐标变换法建立混联机器人的运动学模型；在考虑机器人位置、速度、加速度约束的基础上，采用"3-5-3"法在关节空间对机器人进行轨迹规划。通过遗传算法对各路径点间的时间间隔进行最优规划，获得各关节的位置、速度、加速度轨迹图像。仿真结果表明，所设计的方案能保证机器人运行时间最优以及轨迹连续平滑。%In order to improve hybrid robot's productivity and get a smooth high-speed movement, a method for trajectory planning based on genetic algorithm was presented. The kinematic model of hybrid robot was established by coordinate transformation method;the robot's trajectory in joint space was planned by"3-5-3" method while consid-ering constraints of position,velocity and acceleration. In order to obtain the trajectory picture of each point's posi-tion, velocity and acceleration, the time intervals between each path point were planned with the genetic algorithm. The simulation results show that the method can make the working time optimal and the robot's trajectory smooth.