| 基于AGA的时间最优机械臂轨迹规划算法* |
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| 引用本文： | 付荣,居鹤华. 基于AGA的时间最优机械臂轨迹规划算法*[J]. 计算机应用研究, 2011, 28(9): 3275-3278. DOI: 10.3969/j.issn.1001-3695.2011.09.019 |
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| 作者姓名： | 付荣 居鹤华 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家“863”计划资助项目（2008AA0085）；国家自然科学基金资助项目（60975065） |
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| 摘 要： | 根据机械臂运动学约束，提出了关节空间基于自适应遗传算法(AGA)的3-5-3多项式插值轨迹规划算法。利用运动学约束，以最优时间为目标，针对关节型机器人在静态环境下点到点的轨迹规划问题，利用AGA算法解算多项式插值的时间。通过与基于GA的3-5-3多项式机械臂轨迹规划进化曲线和运动位置、速度、加速度曲线对比，证明该方法在算法收敛、运行平稳度上都有突出优点。
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| 关 键 词： | 机械臂； 轨迹规划； 时间最优； 自适应遗传算法； 多项式插值 |
Time-optimal trajectory planning algorithm based on AGA for manipulator |
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| FU Rong,JU He-hua. Time-optimal trajectory planning algorithm based on AGA for manipulator[J]. Application Research of Computers, 2011, 28(9): 3275-3278. DOI: 10.3969/j.issn.1001-3695.2011.09.019 |
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| Authors: | FU Rong JU He-hua |
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| Affiliation: | (College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, China) |
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| Abstract: | According to the velocity limitation of manipulator, proposed a time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on adaptive genetic algorithm (AGA). To plan the point-to-point trajectories for manipulator working in a static environment for time-optimal, used AGA to get the time of polynomial interpolation. The simulation results show that the algorithm has good performance on time-optimal and stability compared with 3-5-3 polynomial interpolation trajectory planning algorithm based on simple genetic algorithm. |
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| Keywords: | manipulator trajectory planning time-optimal adaptive genetic algorithm(AGA) polynomial interpolation |
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