Research On Trajectory Planning And Optimization Method Of Hoisting Manipulator

In the new era of the “14th Five-Year Plan”,The world advances in science and technology day by day,The mechanical arm is applied in various industrial and manufacturing fields.As a large mechanical arm,the hoisting manipulator shows great advantages in the hoisting and handling scene.With the increasing demand of hoisting manipulator,the research on trajectory planning and trajectory optimization of hoisting manipulator becomes more important.Therefore,it is of great practical significance to carry out research on trajectory planning and optimization.This paper mainly studies the following contents:(1)The kinematics of the hoisting manipulator is analyzed.The basic concepts of pose description and coordinate transformation of manipulator are.Explained.According to the structure of the hoisting manipulator,the hoisting manipulator is simplified into a five-degree-of-freedom manipulator.The forward kinematics equation is calculated by homogeneous transformation matrix method,and the inverse kinematics is solved by geometric method.(2)The trajectory planning study of the hoisting manipulator is conducted.The linear interpolation and circular interpolation in Cartesian space are analyzed.The trajectory planning of mixed polynomial and quintic B-spline in joint space is briefly described.simulation software was used for simulation to obtain the motion curves of each joint of the hoisting manipulator,which laid the foundation for the subsequent trajectory optimization.(3)Research on time optimization of hoisting mechanical.Aiming at the defects of whale optimization algorithm,such as low solution accuracy,easy to fall into the local optimal value and premature phenomenon,the improved whale optimization algorithm is adopted to optimize the single objective time of mixed polynomial interpolation under the kinematic constraints.The whale optimization algorithm is improved by introducing nonlinear convergence factor and nonlinear inertia weight,and the effectiveness of the improved whale optimization algorithm is verified by simulation.(4)Multi-objective optimization of the hoisting manipulator.The basic theory and steps of NSGA-II algorithm are expounded,and a multi-objective optimization mathematical model based on NSGA-II is established on the basis of quintic B-spline trajectory planning.By selecting the feature points on the desired trajectory,the NSGA-II algorithm is used for multi-objective optimization,and the multi-objective optimal solution set is obtained.The optimal solutions are selected from Pareto front surface to draw the kinematic trajectory curves of each joint after optimization.