基于最小疼痛感的机器人操作臂轨迹规划方法

针对机器人操作臂跟踪运动目标的问题,从仿生学的角度提出一种新的轨迹规划方法。将关节加速度的增量进行编码,同时将疼痛感作为优化指标,利用遗传算法在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中的具有较小疼痛感的轨迹。仿真试验结果表明,所提出的方法是可行的,可以规划出正确的跟踪轨迹,同时有效的减小了操作臂运动过程中的疼痛感。

To tracking the moving target by the robot manipulator,a new approach for trajectory planning of robotic manipulators based on genetic algorithm is presented.In this approach,the displacements of the joint acceleration are coded for the EA,and a criteria named hurt is integrated in the cost function.The trajectory of the manipulator is searched in the joint space.The process of tracking moving targets is demonstrated in the simulation section which show that this approach is effective and the hurt of the manipulator can be reduced significantly simultaneously .