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为了提高机械臂的作业效率和运动平稳性,提出了一种新的基于时间最优的轨迹规划算法。通过逆运动学求出与任务轨迹对应的关节位置序列,利用三次样条插值进行轨迹规划,从而使关节角速度、角加速度曲线光滑连续。通过自适应遗传算法对运动轨迹进行时间最短优化,并利用罚函数解决运动学约束问题。仿真结果表明该轨迹规划算法有效、可行,能够很好得减少机械臂完成工作任务所需的运动时间。
In order to improve the work efficiency and the motion stability of the manipulator, a new trajectory planning algorithm based on time optimization is proposed. Through inverse kinematics, the joint position sequence corresponding to the mission trajectory is obtained, and the trajectory planning is performed by cubic spline interpolation so that the joint angular velocity and angular acceleration curve are smooth and continuous. The genetic algorithm is used to optimize the motion trajectory for the shortest time and the penalty function is used to solve the kinematic constraint problem. The simulation results show that the trajectory planning algorithm is effective and feasible, and can reduce the time required for the robot to complete the task.