Research on Trajectory Tracking Method of Redundant Manipulator Based on PSO Algorithm Optimization

摘要

Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize, the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied. The kinematic diagram of redundant manipulator is created, to derive the equation of motion trajectory of redundant manipulator end. Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy. Based on the tracking ellipse of redundant manipulator, the tracking shape of redundant manipulator is determined with the overall tracking index as the second index, and the optimization method of tracking index is proposed. The redundant manipulator contour is located by active contour model, on this basis, combined with particle swarm optimization algorithm, the point coordinates on the circumference with the relevant joint point as the center and joint length as the radius are selected as the algorithm particles for iteration, and the optimal tracking results of the overall redundant manipulator trajectory are obtained. The experimental results show that under the proposed method, the tracking error of the redundant manipulator is low, and the error jump range is small. It shows that this method has high tracking accuracy and reliability.