摘要
在工业自动化和智能科技快速发展的背景下,多自由度柔性机械臂凭借高灵活性和适应能力在许多领域得到广泛应用。文章研究多关节柔性机械臂的精确操控与路径优化规划问题,详细分析该机械臂的构造特点及动力学模型,并建立相应模型,通过参数辨识提高模型准确度。针对控制需求,文章提出基于模型与数据驱动两种控制策略,并通过仿真验证这些算法效果。文章探讨路径规划问题,利用遗传算法和蚁群算法进行路径优化并进行仿真实验。
With the rapid development of industrial automation and intelligent technology,multi-degree-of-freedom flexible robotic arms have been widely used in various fields due to their high flexibility and adaptability.This paper investigates the precise control and optimal path planning problems of multi-joint flexible robotic arms.It provides a detailed analysis of the structural characteristics and dynamic models of these robotic arms and establishes corresponding models.The accuracy of the models is enhanced through parameter identification.To address control requirements,the paper proposes two control strategies:model-based and data-driven approaches.The effectiveness of these algorithms is verified through simulation experiments.Additionally,the paper explores path planning issues by utilizing genetic algorithms and ant colony algorithms for path optimization,followed by simulation experiments.
作者
杜凯育
Du Kaiyu(Xi'an International University,Xi'an 710077,China)
出处
《办公自动化》
2025年第3期109-111,共3页
Office Informatization
关键词
多关节柔性机器人手臂
精准控制
优化路径规划
遗传算法
multi-joint flexible robotic arm
precise control
optimal path planning
genetic algorithm
