期刊
CHINESE JOURNAL OF ELECTRONICS
卷 31, 期 5, 页码 906-914出版社
WILEY
DOI: 10.1049/cje.2021.00.373
关键词
Robotic manipulator; Polynomial interpolation; Particle swarm optimization (PSO); Chaotic motion
资金
- National Natural Science Foundation of China [61976059]
This paper proposes a method for solving the problem of time-optimal trajectory planning, using segmented polynomial interpolation functions and a locally chaotic particle swarm optimization algorithm. Simulation experiments are conducted to verify the effectiveness of the method.
Optimal trajectory planning is a fundamental problem in the area of robotic research. On the time-optimal trajectory planning problem during the motion of a robotic arm, the method based on segmented polynomial interpolation function with a locally chaotic particle swarm optimization (LCPSO) algorithm is proposed in this paper. While completing the convergence in the early or middle part of the search, the algorithm steps forward on the problem of local convergence of traditional particle swarm optimization (PSO) and improved learning factor PSO (IFPSO) algorithms. Finally, simulation experiments are executed in joint space to obtain the optimal time and smooth motion trajectory of each joint, which shows that the method can effectively shorten the running time of the robotic manipulator and ensure the stability of the motion as well.
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