Trajectory Optimization Algorithm for Joint Space of a Surface Modified Redundant Robot
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摘要: 针对表面改性冗余机器人末端轨迹优化过程中关节空间运动稳定性不足的问题，提出一种以适应度函数为基础的关节空间轨迹优化算法。从表面改性冗余机器人逆解流形中选取一系列点，在机器人关节空间进行含抛物线的直线拟合，然后选取拟合曲线上的点，通过运动学正解得到末端运动轨迹，然后和表面改性曲面上的期望轨迹进行对比，以实际轨迹与期望轨迹之间的误差建立适应度函数，利用遗传算法对轨迹规划中的参数寻求最优关节逆解，从而保证关节空间的运动平稳性。最后以飞机进气道曲面为例进行仿真验证了所用方法的合理性。Abstract: A trajectory optimization algorithm based on fitness function is proposed to overcome the lack of motion stability of the joint space of a surface modified redundant robot during the optimization of its end trajectory. We select a series of points for surface modification for fitting a straight line with a parabola in the joint space of the robot, and then we select the fitting curve of the points on the trajectory obtained by forward kinematics and then compare it with the modification of the surface of the desired trajectory. A fitness function is established with the error between actual trajectory and desired trajectory; the optimal joint inverse solution for parameters in trajectory planning is found by using genetic algorithm so as to ensure the smooth motion of the joint space. Finally, the rationality of the algorithm is verified by simulating the inlet of an aircraft.
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Key words:
- trajectory optimization /
- robot /
- trajectory /
- manifold /
- joint space
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