力矩约束下工业机器人最优轨迹规划的遗传/区间方法

1999 European Control Conference (ECC) Pub Date : 1999-08-01 DOI:10.23919/ECC.1999.7099428

C. Bianco, A. Piazzi

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引用次数: 9

摘要

研究了工业多连杆机器人的最优轨迹规划问题。采用三次多项式联合插值格式，通过提出的全局优化算法规划出力矩约束下的最小时间轨迹。提出的优化方法考虑了刚性连杆的全动力学模型。报道了与10节轨迹相关的双连杆臂的数值结果。

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A genetic/interval approach to optimal trajectory planning of industrial robots under torque constraints

In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm, related to a 10 knots trajectory, are reported.

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1999 European Control Conference (ECC)

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