基于多目标优化的冗余自由度机器人轨迹规划
首发时间:2015-09-29
摘要:提出了一种基于多目标优化的冗余自由度机器人轨迹规划方法。该方法根据目标优化理论和冗余自由度机器人的性能指标,以避障势函数为不等式约束,以灵活性最优为目标函数,将冗余自由度机器人的多目标优化问题转化为单目标优化问题,求得冗余自由度机器人关节空间的优化解,完成冗余自由度机器人的轨迹规划。对所规划的轨迹进行了仿真分析,结果表明了所提轨迹规划方法的有效性。
关键词: 冗余自由度机器人 轨迹规划 避障势函数 多目标优化 灵活性最优
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Trajectory planning based on multi-objective optimization for redundant robots
Abstract:In this paper, a method for multi objective optimization of trajectory planning of redundant manipulators is proposed. According to the target optimization theory and the performance index of redundant robot, the obstacle avoidance potential function is used as the inequality constraints. The optimization problem is transformed into a single objective optimization problem, and the optimal solution of the redundant manipulator is obtained. The simulation analysis of the trajectory of the proposed method is carried out, and the results show the effectiveness of the proposed method.
Keywords: Redundant Robot Obstacle Avoidance Potential Function Multi-objective Optimization Optimal Flexibility
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No.4655222109213214****
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