| 李帅帅， 王双园， 张吴飞， 李嘉成.基于改进蝙蝠算法的机械臂时间最优轨迹规划[J].轻工机械,2022,40(2):7-12 |
| 基于改进蝙蝠算法的机械臂时间最优轨迹规划 |
| Time Optimal Trajectory Planning of Manipulator Based on Improved Bat Algorithm |
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| DOI：10.3969/j.issn.1005 2895.2022.02.002 |
| 中文关键词: 机械臂 改进的蝙蝠算法 时间最优 3 5 5 3分段多项式 MATLAB |
| 英文关键词:manipulator improved bat algorithm time optimal 3 5 5 3 piecewise polynomial MATLAB |
| 基金项目: |
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| 摘要点击次数: 191 |
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| 中文摘要: |
| 为了对SCARA 6自由度机械臂的运动过程实现时间最优轨迹规划，课题组提出一种基于改进蝙蝠算法的时间最优3 5 5 3分段多项式插值轨迹规划算法。首先对机械臂构造3 5 5 3分段多项式；然后在角度、角速度和角加速度的约束条件下，以时间最短作为优化的目标函数，采用改进的蝙蝠算法对分段多项式的结果进行优化；最后在MATLAB软件中进行模拟运算。仿真结果表明：改进的蝙蝠算法在收敛性以及优化性方面均优于传统的蝙蝠算法，而且在局部收敛方面也有明显的改善；各关节的角位移、角速度和角加速度曲线相对平滑，不存在突变等情况的发生，充分证实改进算法具有可行性。 |
| 英文摘要: |
| Aiming at the time optimal trajectory planning of the SCARA six degree of freedom manipulator in the process of motion, a time optimal 3 5 5 3 piecewise polynomial interpolation trajectory planning algorithm based on the improved bat algorithm was proposed. Firstly, a 3 5 5 3 piecewise polynomial was constructed for the manipulator. Then, under the constraints of angle, angular velocity and angular acceleration, the results of the piecewise polynomial were optimized by using the improved bat algorithm with the shortest time as the objective function of optimization. Finally, the simulated calculations were performed in MATLAB software. The simulation results show that the improved bat algorithm is better than the traditional bat algorithm in terms of convergence and optimization, and there is also a significant improvement in local convergence. The angular displacement, angular velocity and angular acceleration curves of each joint are relatively smooth with no abrupt change, which fully proves the feasibility of the improved algorithm. |
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