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改进遗传算法搜索中间点的机械臂轨迹规划 预览

Robotic arm trajectory planning method by inserting optimal intermediate point searched by improved genetic algorithm
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摘要 为了实现机械臂轨迹的多目标优化,提出了插入最优中间点的轨迹规划方法,旨在实现避障的同时保证轨迹最短且关节角变化量最小。介绍了仿人手臂机械臂工作原理,建立了机械臂运动学模型;提出了插入最优中间点的轨迹规划方法,明确了碰撞检测策略;对于最优中间点的选取,在传统遗传算法基础上,提出了均匀方式的初始种群生成方法,使用种群分布熵和适应度值方差构建了交叉概率,依据个体适应度值与种群平均值构建了变异概率,从而提出了基于改进遗传算法的最优中间点寻优方法。经仿真验证,插入中间点数量与障碍物数量相同时,才能够兼顾计算量和轨迹优化程度;与传统遗传算法规划的轨迹相比,改进遗传算法规划的轨迹长度较少了 12.1%,关节角变化量减少了 24. 4%,适应度值增加了 23. 6%。 In order to realize multi-objective optimization of robotic arm trajectory, trajectory planning method by inserting optimal intermediate point is proposed, aimed at avoiding obstacles, lessening trajectory length and minimizing joint angle variation. Working principle of humanoid robotic arm is introduced, and dy-namic model of humanoid robotic arm is built. Robotic arm trajectory planning method based on inserting optimal is put forward, and collision detection method is given. For the chosen of optimal intermediate point, on basis of traditional genetic algorithm, uniform way is used to generate original popula-tion. Population distribution entropy and variance of fitness value are used to improve crossover probabil-ity ,and variation probability is optimized by individual fitness value, so that intermediate point optimi- zing method based on improved genetic algorithm is raised. It is clarified by simulation that balancing copulation and trajectory optimizing level, quantity of intermediate point should be the same with quantity of obstacles. Compared with the trajectory planned by traditional genetic algorithm, the length of trajectory planned by improved algorithm decreases by 12. 1%, joint angle variation decreases by 24. 4%, and fitness value decreases by 23. 6%.
作者 谭燕 TAN Yan(Department of Mechanical and Electronic Engineering,Chongqing Three Gorges Vocational College, Chongqing 404155, CHN)
出处 《制造技术与机床》 北大核心 2019年第5期139-143,148共6页 Manufacturing Technology & Machine Tool
基金 国家自然科学基金(78865567).
关键词 机械臂 轨迹优化 插入最优中间点 改进交叉变异概率 robotic arm trajectory planning inseting optimal point improved crossover and variation probability
作者简介 谭燕,女,1983年生,硕士,讲师,研究方向为机电一休化及自动化.
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