恽为民, 席裕庚. 基于遗传算法的机器人关节空间最优运动规划[J]. 机器人, 1995, 17(4): 206-217.
引用本文: 恽为民, 席裕庚. 基于遗传算法的机器人关节空间最优运动规划[J]. 机器人, 1995, 17(4): 206-217.
YUN Weimin, XI Yugeng. OPTIMUMM OTION PLANNING IN JOINT SPACE USING GENETIC AIGORTHMS[J]. ROBOT, 1995, 17(4): 206-217.
Citation: YUN Weimin, XI Yugeng. OPTIMUMM OTION PLANNING IN JOINT SPACE USING GENETIC AIGORTHMS[J]. ROBOT, 1995, 17(4): 206-217.

基于遗传算法的机器人关节空间最优运动规划

OPTIMUMM OTION PLANNING IN JOINT SPACE USING GENETIC AIGORTHMS

  • 摘要: 本文整体上研究了最优轨迹规划问题,它包含两个密切相关的子问题,最优路径规划和最优轨迹规划.本文提出了一种基于遗传算法的更为一般、柔性和有效的新方法,该策略综合考虑了机器人的运动学约束、动力学约束和控制约束;最优轨迹用合适的多项式拟合,得到的控制序列适宜于高速高精度的动力学控制,本文最后以二自由度机器人为例进行了仿真实验.

     

    Abstract: he optimum motion planning in joint space(OMPJS),which consists of two subproblems atclose hand, optimum path planning and optimum trajectory planning, was considered wholly instead of indi-vidually.A new method based on genetic algorithm for optimal motion planning problem is proposed,whichis more general.flexible and effective, This approach incorporates kinematics,dynamics and control con-straints of robot manipulator. The minimum time trajectory is paralneterized by splines. The simulation resuIts for a two degrees of freedom robot are presented.The simulation is based on genetic algorithm class li-brary WGAClass 1.0 developed by us with Borland C+ + 3.1.

     

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