机器人操作臂跟踪动态目标的轨迹规划方法

针对机器人操作臂跟踪运动目标问题,提出一种基于遗传算法的轨迹规划方法。通过对关节加速度的增量进行编码,实现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所需要的轨迹。仿真计算的结果表明,所提出的方法是有效的。

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 paper. In this approach, the changing of the joint acceleration is coding for the EA., the trajectory of the manipulator is obtained by searching in the joint space.The process of tracking moving targets is demonstrated in the simulation parts and the simulation results show that this approach is significantly effective in the real applications.