基于遗传算法机械手最优效率的轨迹规划研究

摘要

With the development of industrial robots,the study of trajectory planning of industrial robots has been gradually deepened.Through the trajectory planning can reduce the impact of joints and vibration to optimize the performance of the robot.In a large number of studies,the cubic interpolation spline curve is used as the fitting curve,and the vibrations and shocks generated by the cubic spline curve are larger than those of the B-spline curve.Therefore,this paper will use the B-spline curve to fit the trajectory of the robot,and then use the genetic algorithm to optimize the search path for the shortest time.%随着工业机器人的发展,对工业机器人的轨迹规划研究也逐步加深.通过轨迹规划可以降低关节冲击和振动优化机器人的各种性能.在大量研究中都是以三次插值样条西线为拟合西线,而三次样条西线产生的振动和冲击相对于B样条西线较大.所以本文将通过B样条西线拟合机器人的轨迹,再使用遗传算法全局寻优搜索时间最短的一条轨迹.