CAJ | 학술논문

研究机器人轨迹优化控制问题，为了兼顾机器人高速运动的平稳性与工作效率，以四自由度混联机器人为研究对象，提出了一种基于遗传算法的轨迹规划方案。运用坐标变换法建立混联机器人的运动学模型；在考虑机器人位置、速度、加速度约束的基础上，采用"3-5-3"法在关节空间对机器人进行轨迹规划。通过遗传算法对各路径点间的时间间隔进行最优规划，获得各关节的位置、速度、加速度轨迹图像。仿真结果表明，所设计的方案能保证机器人运行时间最优以及轨迹连续平滑。
연구궤기인궤적우화공제문제，위료겸고궤기인고속운동적평은성여공작효솔，이사자유도혼련궤기인위연구대상，제출료일충기우유전산법적궤적규화방안。운용좌표변환법건립혼련궤기인적운동학모형；재고필궤기인위치、속도、가속도약속적기출상，채용"3-5-3"법재관절공간대궤기인진행궤적규화。통과유전산법대각로경점간적시간간격진행최우규화，획득각관절적위치、속도、가속도궤적도상。방진결과표명，소설계적방안능보증궤기인운행시간최우이급궤적련속평활。
In order to improve hybrid robot's productivity and get a smooth high-speed movement, a method for trajectory planning based on genetic algorithm was presented. The kinematic model of hybrid robot was established by coordinate transformation method;the robot's trajectory in joint space was planned by"3-5-3" method while consid-ering constraints of position,velocity and acceleration. In order to obtain the trajectory picture of each point's posi-tion, velocity and acceleration, the time intervals between each path point were planned with the genetic algorithm. The simulation results show that the method can make the working time optimal and the robot's trajectory smooth.