| 孙鹏,王标,高玉君,李研彪.混联冗余机械臂关节轨迹规划研究[J].高技术通讯(中文),2026,36(3):289~297 |
| 混联冗余机械臂关节轨迹规划研究 |
| Research on joint trajectory planning of hybrid redundant robotic arm |
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| DOI：10. 3772 / j. issn. 1002 - 0470. 2026. 03. 007 |
| 中文关键词: 混联机械臂； 粒子群算法； 冗余关节； 轨迹规划； 性能评价 |
| 英文关键词: hybrid robotic arm, particle swarm optimization, redundant joint, trajectory planning, performance evaluation |
| 基金项目: |
| 作者 | 单位 | | 孙鹏 | (浙江工业大学机械学院杭州 310032) | | 王标 | | | 高玉君 | | | 李研彪 | |
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| 摘要点击次数: 37 |
| 全文下载次数: 33 |
| 中文摘要: |
| 为了探讨冗余关节对机械臂运动的影响，对八自由度混联机械臂的冗余关节特征进行了研究。在此基础上，通过调整粒子群优化算法中的参数，并考虑了每个关节的运动范围，迭代优化求解三次多项式轨迹系数，得到不同的冗余关节轨迹；基于给定的末端执行器运动轨迹以及冗余关节轨迹，通过运动学逆解，求解出其他关节运动轨迹；为了全面评价机械臂性能,建立了以减小机械臂力矩、能量消耗为指标的多目标模型。仿真结果表明，冗余关节的引入可以改善机械臂的能耗，为机械臂在实际应用中更为灵活、高效地执行任务提供了理论和方法支持。 |
| 英文摘要: |
| In order to investigate the impact of redundant joints on the motion of a robotic arm, the study is conducted on the redundant joint characteristics of an eight-degree-of-freedom hybrid robotic arm. Based on this, by adjusting the parameters of the particle swarm optimization algorithm and considering the range of motion of each joint, the coefficients of the third-order polynomial trajectory are iteratively optimized to obtain different redundant joint trajectories. Based on the given end effector motion trajectory and redundant joint trajectory, other joint motion trajectories are solved through kinematic inverse solutions. In order to comprehensively evaluate the performance of the robotic arm, a multi-objective model is established with the reduction of robotic arm torque and energy consumption as indicators. Simulation results indicate that the introduction of redundant joints can improve the energy consumption of the robotic arm, providing theoretical and methodological support for the robotic arm to perform tasks more flexibly and efficiently in practical applications. |
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