摘要
利用五次多项式函数构建机械臂路径轨迹控制点基础位移值,优化轨迹规划控制点的位移浮动值,将机械臂振动最小作为约束条件,结合动力学方程获得机械臂振动量,在此基础上使用自适应调节参数后的改进遗传算法优化,获取具有抑制振动效果的机械臂最佳路径轨迹规划结果。经过模拟实验发现,该方法规划后的机械臂路径轨迹在位移、速度以及加速度方面均具有良好效果,能够有效抑制机械臂振动,实现煤矿环境下,机械臂安全稳定工作。
Using five times polynomial function to build mechanical arm path trajectory control points base displacement value, optimal trajectory planning control point displacement of a floating value,minimum vibration mechanical arm as constraint conditions, combined with the dynamic equation of mechanical arm vibration quantity, using adaptive adjusting parameters, the improved genetic algorithm to optimize for obtaining the best path to the manipulator trajectory planning results. Through simulation experiments, it is found that the path trajectory of the manipulator programmed by this method has good effects in terms of displacement, velocity and acceleration, and can effectively suppress the vibration of the manipulator, so as to realize the safe and stable operation of the manipulator in the coal mine environment.
作者
张杨
ZHANG Yang(School of Artificial Intelligence Application,Shanghai Urban Construction Vocational College,Shanghai 201415,China)
出处
《煤炭技术》
CAS
北大核心
2022年第3期196-200,共5页
Coal Technology
关键词
煤矿
轻型协作
机械臂
路径轨迹规划
改进遗传算法
抑制振动
coal mine
light collaboration
mechanical arm
path trajectory planning
improved genetic algorithm
inhibition of vibration
