基于改进遗传算法的工业机器人能耗最优轨迹规划.PDF

第37 卷第2 期 Vol.37 No.2 井冈山大学学报( 自然科学版) 2016 年3 月 Mar. 2016 Journal of Jinggangshan University (Natural Science) 48 48 井冈山大学学报( 自然科学版) 文章编号：1674-8085(20 16)02-0048-07 基于改进遗传算法的工业机器人能耗最优轨迹规划 * 1,2 1,2 1,2 操鹏飞 ，许德章 ，杨伟 1. 安徽工程大学机械与汽车工程学院，安徽，芜湖 241000 ；2.芜湖安普机器人产业技术研究院有限公司，安徽，芜湖 241007 ） 摘 要：为了降低工业机器人在工作过程 的能耗，提出了一种能耗最优的轨迹规划方法。将机器人的轨迹视为 空间 一系列的型值点构成，每相邻的型值点间 一段五次B 样条曲线连接，得出机器人的轨迹函数。以动能 作为目标能耗函数，同时考虑各个关节的运动学和动力学约束。对遗传算法进行改进，用于优化目标能耗函数， 此改进遗传算法提高了算法的运算效率、局部有哪些信誉好的足球投注网站能力和实时性。对优化结果进行仿真，得出各个关节的运动学 参数变化曲线，分析各个关节的曲线图知其均满足运动学和动力学约束条件，验证了此优化轨迹的合理性。 关键词：轨迹规划；B 样条曲线；工业机器人；改进遗传算法 中图分类号：TP242 文献标识码：A DOI:10.3969/j.issn.1674-8085.2016.02.011 ENERGY CONSUMPTION OPTIMAL PLANNING OF INDUSTRIAL ROBOT TRAJECTORIES BASED ON IMPROVED GENETIC ALGORITHM *CAO Peng-fei1,2 ，XU De-zhang1,2 ，YANG Wei-chao1,2 (1. School of Mechanical Automotive Engineering, Anhui Polytechnic University, Wuhu, Anhui 241000,China; 2. Anpu Institute of Technology Robotics Industry co., LTD, Wuhu, Anhui 241007 ，China ） Abstract: In order to reduce the energy consumption in the process of industrial robot, a traj ectory planning method of energy consumption optimal was proposed. The robots traj ectory was regarded as composed of a series of values point in space, each adj acent value points were connected by a period of five B-spline curves, and the traj ectory of robot function was concluded. With kinetic energy as the target function of energy consumption, at the same time the constraints of kinematics and dynamics of each j oint were considered. To improve the genetic algorithm for optimizing target function of energy consumption, the improved genet