Time-optimal Trajectory Planning of Industrial Robots based on Particle Swarm Optimization

摘要：

　　Industrial robots have been widely used in industrial manufacturing. Minimum time trajectory planning can make the industry robot motion moves more quickly and smoothly. In this paper, the trajectory planning using particle swarm optimization (PSO) to search the time-optimal solution for industrial robots was adopted. The 4-3-4 polynomial interpolation trajectory planning method has the shortcoming of high exponent and no convex hull, so its difficult to optimize by the traditional optimization methods. In this paper, particle swarm optimization (PSO) was used to optimize the 4-3-4 polynomial interpolation trajectory planning. It can make up for the shortcomings of polynomial interpolation method. Computer simulations and experiments show that method can make industrial robots run quickly and smoothly.

关键词： industrial robots trajectory planning time-optimal particle swarm optimization

作者: Mingyu Gao Pan Ding Yuxiang Yang

作者单位: Department of Electronics and Information Hangzhou Dianzi University, Hangzhou, China

会议类型: 国际会议

会议名称: 2015 Fifth International Conference on Instrumentation and Measurement,Computer,Communication and Control (IMCCC2015)(第五届仪器测量、计算机通信与控制国际会议)

会议地点: 秦皇岛

会议语种:英文

页码: 1934-1939

在线出版日期: 2015-09-18（万方平台首次上网日期，不代表论文的发表时间）