{"title":"基于遗传混沌优化算法的机器人轨迹规划方法","authors":"Qiwan Zhang, Mingting Yuan, R. Song","doi":"10.1109/ICAR.2017.8023673","DOIUrl":null,"url":null,"abstract":"In order to smooth the trajectory of the robot end effector and optimize the running time of the robot, the paper presents a new robot trajectory planning method based on genetic chaos optimization algorithm. Firstly, the planned quintic polynomial is used to interpolate the position nodes in joint space to model the running trajectory of the robot. Subsequently, genetic chaos optimization algorithm based on genetic algorithm and chaos algorithm is introduced. Finally, it is proved that the novel method can make the running trajectory of the robot end effector smooth and time optimal under the constraints of velocity, acceleration and jerk through simulation and analysis.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Robot trajectory planning method based on genetic chaos optimization algorithm\",\"authors\":\"Qiwan Zhang, Mingting Yuan, R. Song\",\"doi\":\"10.1109/ICAR.2017.8023673\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In order to smooth the trajectory of the robot end effector and optimize the running time of the robot, the paper presents a new robot trajectory planning method based on genetic chaos optimization algorithm. Firstly, the planned quintic polynomial is used to interpolate the position nodes in joint space to model the running trajectory of the robot. Subsequently, genetic chaos optimization algorithm based on genetic algorithm and chaos algorithm is introduced. Finally, it is proved that the novel method can make the running trajectory of the robot end effector smooth and time optimal under the constraints of velocity, acceleration and jerk through simulation and analysis.\",\"PeriodicalId\":198633,\"journal\":{\"name\":\"2017 18th International Conference on Advanced Robotics (ICAR)\",\"volume\":\"11 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-05-31\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 18th International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2017.8023673\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 18th International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2017.8023673","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robot trajectory planning method based on genetic chaos optimization algorithm
In order to smooth the trajectory of the robot end effector and optimize the running time of the robot, the paper presents a new robot trajectory planning method based on genetic chaos optimization algorithm. Firstly, the planned quintic polynomial is used to interpolate the position nodes in joint space to model the running trajectory of the robot. Subsequently, genetic chaos optimization algorithm based on genetic algorithm and chaos algorithm is introduced. Finally, it is proved that the novel method can make the running trajectory of the robot end effector smooth and time optimal under the constraints of velocity, acceleration and jerk through simulation and analysis.
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