基于遗传算法的码垛机器人关节路径规划

发布时间：2018-12-05 21:49

【摘要】：针对码垛机器人高速工作时末端易产生抖动现象的问题,文章提出了一种机器人轨迹规划的数学方法。文章分析了机器人轨迹对抖动现象的影响,应用最优化方法建立了机器人关节轨迹问题的数学模型,确定了机器人优化目标,使用遗传算法求解了该优化问题,运用Matlab进行了实验计算,求得了机器人各个关节的近似全局最优轨迹。文中提出的研究方法可以用于确定控制码垛机器人平稳运行的上层算法。
[Abstract]:In order to solve the problem of jitter at the end of palletizing robot at high speed, this paper presents a mathematical method of robot trajectory planning. In this paper, the influence of robot trajectory on jitter phenomenon is analyzed, and the mathematical model of robot joint trajectory problem is established by using optimization method, and the robot optimization target is determined, and the optimization problem is solved by genetic algorithm. The approximate global optimal trajectory of each joint of the robot is obtained by using Matlab. The method proposed in this paper can be used to determine the upper layer algorithm for controlling the stable operation of the palletizing robot.
【作者单位】：大连理工大学机械工程学院;大连理工大学(鞍山)研究院;
【基金】：大连市科技计划项目(2014A11GX028)
【分类号】：TP242

【相似文献】