Trajectory Optimization of Manipulator based on Adaptive Transformation Bat Algorithm

Yongyan Sun; Wenyong Guo; Yunling Sun; Jinghang Wang

doi:10.16578/j.issn.1004.2539.2022.05.005

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Trajectory Optimization of Manipulator based on Adaptive Transformation Bat Algorithm

Theory·Reserach | 更新时间：2022-09-24

- Trajectory Optimization of Manipulator based on Adaptive Transformation Bat Algorithm
- Journal of Mechanical Transmission Vol. 46, Issue 5, Pages: 35-41(2022)
- 作者机构：
  
  1.海军工程大学动力工程学院，湖北武汉 430033
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.05.005
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孙颙琰,郭文勇,孙云岭等.基于自适应变换蝙蝠算法的机械臂轨迹优化[J].机械传动,2022,46(05):35-41.

Sun Yongyan,Guo Wenyong,Sun Yunling,et al.Trajectory Optimization of Manipulator based on Adaptive Transformation Bat Algorithm[J].Journal of Mechanical Transmission,2022,46(05):35-41.
孙颙琰,郭文勇,孙云岭等.基于自适应变换蝙蝠算法的机械臂轨迹优化[J].机械传动,2022,46(05):35-41. DOI： 10.16578/j.issn.1004.2539.2022.05.005.

Sun Yongyan,Guo Wenyong,Sun Yunling,et al.Trajectory Optimization of Manipulator based on Adaptive Transformation Bat Algorithm[J].Journal of Mechanical Transmission,2022,46(05):35-41. DOI： 10.16578/j.issn.1004.2539.2022.05.005.

摘要

为了提高机械臂工作效率，同时减少能量损耗及所受冲击，提出了一种基于自适应变换蝙蝠算法（Adaptive transformation bat algorithm，ATBA）的轨迹优化方法。利用5次多项式插值建立机械臂轨迹模型，通过在标准蝙蝠算法（Bat algorithm，BA）的局部搜索中加入动态扰动系数，同时改进全局搜索与局部搜索的变换策略，得到了ATBA；将时间、能耗和冲击设为优化目标，对机械臂运动轨迹进行优化。对6自由度机械臂进行仿真分析，结果表明，该轨迹优化方法能有效地进行多目标寻优，得到理想的Pareto最优解集，通过实际工况构造归一化权重目标函数，选择期望解，较好地提高了轨迹、速度、加速度的平滑性及机械臂的运行效率。

Abstract

In order to improve the work efficiency of the manipulator while reducing the energy loss and impact， a trajectory optimization method based on the adaptive transformation bat algorithm （ATBA） is proposed. The trajectory model of the manipulator is established by using quintic polynomial interpolation; the ATBA is obtained by adding dynamic disturbance coefficients to the local search of the standard bat algorithm （BA）， and improving the conversion strategy of global search and local search at the same time. Optimize the motion trajectory of the manipulator with time， energy consumption and impact as the optimization goals. The simulation analysis of the six-degree-of-freedom manipulator shows that the trajectory optimization method can effectively perform multi-objective optimization and obtain the ideal Pareto optimal solution set. The normalized weight objective function is constructed through actual working conditions， and the desired solution can be selected by it. This optimization algorithm can improve the smoothness of trajectory， speed， acceleration and the operating efficiency of the manipulator better.

关键词

自适应变换蝙蝠算法多目标优化5次多项式插值六轴机械臂

Keywords

Adaptive transformation bat algorithmMulti-objective optimizationQuintic polynomial interpolationSix-axis manipulator

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