Research On Trajectory Optimization Of Robot Based On Improved Artificial Fish Swarm Algorithm

Industrial robots,as a kind of manufacturing tools with good repeatability and adaptation for complex working conditions,are rapidly applied in various fields of mechanical manufacturing.In the process of practical application,high precision and high efficiency are important parameters to judge the performance of the robot,in which way improving the work efficiency and the posing accuracy of the robot in the production process have become a difficult problem in the practical production process.Robot trajectory planning based time optimal is researched to reduce the robot task time and improve the working efficiency of the robot in a smooth condition of meeting the displacement,speed and acceleration.In this paper,setting HSR-JR612 as the research object,the following work are mainly completed:1.The kinematics model of HSR-JR612 robot is established by using the D-H method,and the kinematics and inverse kinematics are analyzed;through Matlab_Robotic_Toolbox of MATLAB,HSR-JR612 workspace is simulated and analyzed in MATLAB kinematics and inverse solution of simulation.2.Analysis and research of the existing methods of the robot arm trajectory planning is completed.Detail is showed of three polynomial and high order polynomial in the joint space of the robot.Analysis of the trajectory planning of robot Descartes space of linear interpolation and circular interpolation,which is measure to deficiencies and advantages of the two different space trajectory planning method.3.Based on analysis of the standard artificial fish swarm optimization algorithm theory,the improved fish swarm algorithm of the introduction of a glowworm swarm algorithm is to put forward.Artificial fish swarm algorithm with attracted performance is more excellent than the standard artificial fish swarm algorithm through the test function simulation.Finally,the objective function and the constraint condition of the optimal trajectory time are explored.4.Optimization of time optimal objective function is completed,by modifying improved artificial fish swarm algorithm of robot through MATLAB.The joint angle has been planned according to the actual handling task,and the results of simulation show that the feasibility of artificial fish swarm algorithm to attract good effect,in the aspects of rationality and trajectory planning.Therefore,the improved artificial fish swarm algorithm provides a scientific basis for industrial robot off-line programming and trajectory planning of robot teaching,which possesses high practical significance.