【摘要】 以七自由度冗余空间机械臂为研究对象,对其进行多目标综合轨迹规划研究。为了得到速度和加速度都连续的关节轨迹,首先采用三次均匀B样条曲线构造机械臂的关节空间轨迹。然后分别以机械臂运动时间最短、能量消耗最少和轨迹冲击性最小作为优化目标,以机械臂的关节位移、速度、加速度和关节力矩的限制作为约束条件,建立空间机械臂多目标轨迹规划问题的数学模型。最后使用NSGA-Ⅱ算法进行数学模型求解,获得空间机械臂多目标轨迹规划问题的Pareto最优解集。仿真结果表明,在满足各项约束条件的前提下,所获得的机械臂关节空间轨迹能够达到使机械臂的多个性能指标综合最优的效果。更多还原

【Abstract】 This paper studies the 7-degree of freedom redundant space manipulator and its multi-objective optimal trajectory planning.In order to obtain the continuous trajectories of velocity and acceleration,first,the cubic uniform B-spline curve was used to construct the joint-space trajectory of the manipulator.Then with the shortest movement time,the least energy consumption and the minimum trajectory impact taken as the optimization target,a mathematical model of the multi-objective trajectory planning of the space manipulator was established,in which,the constraints were joint displacement,velocity,acceleration and joint torque of the manipulator.Finally,the NSGA-II was applied to the mathematical model,and the Pareto optimal solution set was obtained.The simulation results show that on the premise of satisfying the constraints,the performance indicators of the manipulator can be optimized by the manipulator joint space trajectory.更多还原