摘 要:为了使工业机器人在某个轨迹下执行焊接任务的时间最短,采用改进的模拟退火算法作为优化方法,对工业机器人关节轨迹进行时间最优规划。仿真结果表明,与其它同约束条件下的轨迹规划算法相比,采用新型算法后,机器人焊接时间缩短了1.24s,从而验证了该算法的有效性。
关键词:模拟退火算法;轨迹规划;工业机器人
DOI:10. 11907/rjdk. 191564
中图分类号:TP301 文献标识码:A 文章编号:1672-7800(2020)003-0053-04
Simulation and Research of Industrial Robots on Time Optimal Trajectory Planning
ZHANG Hui-min
(School of Electrical and Electronic Engineering,Tianhe College of Guangdong Polytechnical Normal University,
Guangzhou 510405,China)
Abstract:
In order to shorten the time for an industrial robot to perform the welding task under a certain trajectory, the improved simulated annealing algorithm is used as the optimization method to optimize the trajectory of the industrial robot in this paper. The simulation results show that compared with other trajectory planning algorithms under the same constraints, with the new algorithm,the time of industrial robot to perform the welding task is shortened by 1.24S, which verifies the effectiveness of the algorithm.
Key Words:
simulated annealing algorithm; trajectory planning; industrial robots
0 引言
工业自动化是时代进步的标志,工业机器人作为人工智能、自动化、图像信息等多项前沿技术相结合的