Time-optimal Trajectory Planning of Robot based on Breed Algorithm
With the 6-DOF manipulators of the multi-arm casting robot as the research object,the trajectory planning is designed by the 4-3-4 polynomial interpolation method in the joint space. Under the constraint of velocity,the breed algorithm is used to optimize the interpolation results to obtain the opti...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.012 |
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| _version_ | 1841547402693050368 |
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| author | Yu Rui Wang Chengjun Guo Yongcun Zhang Yuping |
| author_facet | Yu Rui Wang Chengjun Guo Yongcun Zhang Yuping |
| author_sort | Yu Rui |
| collection | DOAJ |
| description | With the 6-DOF manipulators of the multi-arm casting robot as the research object,the trajectory planning is designed by the 4-3-4 polynomial interpolation method in the joint space. Under the constraint of velocity,the breed algorithm is used to optimize the interpolation results to obtain the optimal motion time of manipulator. Contrast to the particle swarm optimization,the breed algorithm has the higher precision and more rapid speed in the convergence procedure. By means of the Matlab,the movement position,velocity and acceleration curve of each joint of the dual arm robot are obtained. The consequence shows this method can accurately realize the time optimal trajectory planning at the speed constraint. |
| format | Article |
| id | doaj-art-41a4d7f28c7a4d89867e3fc4afb0ef95 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-41a4d7f28c7a4d89867e3fc4afb0ef952025-01-10T14:41:21ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142556029937438Time-optimal Trajectory Planning of Robot based on Breed AlgorithmYu RuiWang ChengjunGuo YongcunZhang YupingWith the 6-DOF manipulators of the multi-arm casting robot as the research object,the trajectory planning is designed by the 4-3-4 polynomial interpolation method in the joint space. Under the constraint of velocity,the breed algorithm is used to optimize the interpolation results to obtain the optimal motion time of manipulator. Contrast to the particle swarm optimization,the breed algorithm has the higher precision and more rapid speed in the convergence procedure. By means of the Matlab,the movement position,velocity and acceleration curve of each joint of the dual arm robot are obtained. The consequence shows this method can accurately realize the time optimal trajectory planning at the speed constraint.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.0126-DOF manipulatorBreed algorithmTrajectory planningPolynomial interpolationSpeed constraint |
| spellingShingle | Yu Rui Wang Chengjun Guo Yongcun Zhang Yuping Time-optimal Trajectory Planning of Robot based on Breed Algorithm Jixie chuandong 6-DOF manipulator Breed algorithm Trajectory planning Polynomial interpolation Speed constraint |
| title | Time-optimal Trajectory Planning of Robot based on Breed Algorithm |
| title_full | Time-optimal Trajectory Planning of Robot based on Breed Algorithm |
| title_fullStr | Time-optimal Trajectory Planning of Robot based on Breed Algorithm |
| title_full_unstemmed | Time-optimal Trajectory Planning of Robot based on Breed Algorithm |
| title_short | Time-optimal Trajectory Planning of Robot based on Breed Algorithm |
| title_sort | time optimal trajectory planning of robot based on breed algorithm |
| topic | 6-DOF manipulator Breed algorithm Trajectory planning Polynomial interpolation Speed constraint |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.012 |
| work_keys_str_mv | AT yurui timeoptimaltrajectoryplanningofrobotbasedonbreedalgorithm AT wangchengjun timeoptimaltrajectoryplanningofrobotbasedonbreedalgorithm AT guoyongcun timeoptimaltrajectoryplanningofrobotbasedonbreedalgorithm AT zhangyuping timeoptimaltrajectoryplanningofrobotbasedonbreedalgorithm |