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Mechanical arm joint trajectory optimization method based on time grouping

A trajectory optimization and manipulator technology, which is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools, can solve the problems of untargeted movement characteristics of each axis of the manipulator, shorten the attitude adjustment time, reduce the pulsation of the first three axes, The effect of attitude adjustment time reduction

Active Publication Date: 2019-04-16
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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Problems solved by technology

[0005] However, analyzing the existing algorithms, it is found that the objective function of the multi-axis manipulator is for all axes, and the time is also unified for each axis, but the existing algorithm is not specific to the motion characteristics of each axis of the manipulator

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  • Mechanical arm joint trajectory optimization method based on time grouping
  • Mechanical arm joint trajectory optimization method based on time grouping
  • Mechanical arm joint trajectory optimization method based on time grouping

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Embodiment Construction

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents coming within the spirit and scope of the appended claims.

[0036] The trajectory planning of the manipulator is the basis of trajectory control, which is of great significance to the operating efficiency, stability, operation accuracy and energy consumption of the manipulator. In the case of the obtained trajectory, the intelligent optimization algorithm is used to optimize the trajectory to achieve the purpose of improving time a...

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Abstract

In order to improve the efficiency of each joint and make optimization objective more targeted, aiming to perform trajectory optimization on joint space of six-axis joint type robot in accordance withPieper criterion, based on the analysis of the structure and performance of a six-axis mechanical arm, the invention provides a trajectory optimization strategy based on time grouping. Trajectory optimization is carried out on three front axes and three rear axes of the six-axis mechanical arm under different time dimensions, and targeted objective optimization is carried out according to joint torque characteristics, so that the optimization effect of shortening posture adjusting time and reducing pulsation is achieved. By analyzing the characteristics of a time-based trajectory optimizationalgorithm, an exchange pool of a genetic algorithm is introduced into a particle swarm optimization algorithm, the phenomenon of iteration omission of multi-dimensional information is improved, and the optimization efficiency of the algorithm is effectively improved. Through experiment simulation and comparison with other optimization strategies and target setting optimization effects, an averageof 15% of posture adjusting time is reduced.

Description

technical field [0001] The present invention relates to the technical field of trajectory optimization of mechanical arm joints, in particular to a method for optimizing the trajectory of mechanical arm joints based on time grouping. Background technique [0002] Today, with the rapid development of modern industry, the robotic arm has become an indispensable and important part of most modern factories, and how to plan the movement of the robotic arm to make it have good working performance has become a topic worth studying. For multi-joint manipulators, the movement process is complex and there are many constraints, and the motion trajectory planning for it can reduce time, energy and other indicators very well. However, according to the characteristics of nonlinearity and strong coupling of manipulators, intelligent algorithms are mostly used at present. Optimizing the motion of a robotic arm under multiple constraints. Trajectory optimization is a further study of trajec...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 潘峰安启超常成周鹏程刘健徐楠张笛
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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