摘要
针对冗余机械臂连续执行装配、搬运等多项工业任务的时间最优轨迹规划问题,将其转化为数学优化问题,提出利用一种改进遗传算法求解该优化问题。在改进遗传算法中,每条染色体由任务点顺序、与任务点序列对应的关节构型序列和描述关节轨迹的数学函数未知系数三部分组成,对三个部分进行独立编码并独立执行交叉、变异操作。通过同时优化染色体三部分基因序列,达到减少计算量和缩短CPU时间的目的。最后,通过与传统遗传算法对比,并结合数值仿真,验证所提方法的有效性。
Aiming at the time-optimal trajectory planning problem of redundant manipulators continuously performing multiple industrial tasks such as assembly and handling,it is transformed into a mathematical optimization problem,and an improved genetic algorithm is proposed to solve the optimization problem.In the improved genetic algorithm,each chromosome is composed of three parts:the sequence of task points,the joint configuration sequence corresponding to the task point sequence and the unknown coefficient of the mathematical function describing the joint trajectory.The three parts are independently coded and independently performed crossover and mutation operations.By optimizing the three-part gene sequence of the chromosome at the same time,the purpose of reducing the amount of calculation and shortening the CPU time is achieved.Finally,by comparing it with the traditional genetic algorithm and combining it with numerical simulation,the effectiveness of the proposed method is verified.
作者
杜钰霜
赵素平
陈超波
闫姣姣
DU Yu-shuang;ZHAO Su-ping;CHEN Chao-bo;YAN Jiao-jiao(School of Electrical Information Engineering,Xi'an Technological University,Xi'an Shaanxi 710021,China)
出处
《计算机仿真》
2025年第4期378-385,共8页
Computer Simulation
基金
国家自然科学基金青年基金项目(62303367)
陕西省重点产业创新链项目(2023ZDLNY-61)
陕西省重点研发计划项目(2022GY-236)。
关键词
冗余机械臂
多任务轨迹规划
改进遗传算法
时间最优
Redundant manipulator
Multi-task trajectory planning
Improved genetic algorithm
Time optimal
