Trajectory Planning of a 6-DOF Assembly Robot Based on the Atomic Orbit Search Algorithm

Huang Deqi; Wu Jianhui

doi:10.16578/j.issn.1004.2539.2023.12.005

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Trajectory Planning of a 6-DOF Assembly Robot Based on the Atomic Orbit Search Algorithm

Theory·Research | 更新时间：2023-12-21

- Trajectory Planning of a 6-DOF Assembly Robot Based on the Atomic Orbit Search Algorithm
- Journal of Mechanical Transmission Vol. 47, Issue 12, Pages: 34-39(2023)
- 作者机构：
  
  新疆大学电气工程学院，新疆乌鲁木齐 830046
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.12.005
  CLC：
- Published：15 December 2023，
  
  Received：13 May 2023，
扫描看全文
黄德启,吴健辉.基于原子轨道搜索算法的6自由度装配机器人轨迹规划[J].机械传动,2023,47(12):34-39.

Huang Deqi,Wu Jianhui.Trajectory Planning of a 6-DOF Assembly Robot Based on the Atomic Orbit Search Algorithm[J].Journal of Mechanical Transmission,2023,47(12):34-39.
黄德启,吴健辉.基于原子轨道搜索算法的6自由度装配机器人轨迹规划[J].机械传动,2023,47(12):34-39. DOI： 10.16578/j.issn.1004.2539.2023.12.005.

Huang Deqi,Wu Jianhui.Trajectory Planning of a 6-DOF Assembly Robot Based on the Atomic Orbit Search Algorithm[J].Journal of Mechanical Transmission,2023,47(12):34-39. DOI： 10.16578/j.issn.1004.2539.2023.12.005.

摘要

针对6自由度装配机器人多目标优化和轨迹规划问题，首先，将原子轨道搜索（Atomic Orbit Search，AOS）算法融入到多目标优化中，构建了时间、能耗和冲击的多目标优化函数；其次，轨迹规划采用路径点插值非均匀有理B样条曲线的方法，使用AOS算法测定原子的结合态和结合能，并确定原子中能级最低的候选解，输出最优的电子位置，优化了Pareto取值集合空间，获得多目标优化后的轨迹曲线；最后，通过Matlab仿真验证了所提方法的有效性。结果表明，结合AOS算法优化后的轨迹规划方法能保证装配机器人按最优路线运行，具有一定的工程应用价值。

Abstract

Aiming at the multi-objective optimization and trajectory planning problems of six-degree-of-freedom assembly robots

firstly

the atomic orbit search (AOS) algorithm is incorporated into the multi-objective optimization to construct the multi-objective optimization functions of time

energy consumption and shock. Secondly

the trajectory planning adopts the method of path point interpolation non-uniform rational B-spline curve

uses the AOS algorithm to determine the binding state and the binding energy of atoms

determines the candidate solution with the lowest energy level in the atom

outputs the optimal electron position

optimizes the Pareto value set space

and obtains the multi-objective optimized trajectory curve. Finally

the effectiveness of the proposed method is verified by the Matlab simulation. The results show that the trajectory planning method combined with the AOS algorithm can ensure that the assembly robot runs in the optimal route

which has certain engineering application value.

关键词

多目标优化轨迹规划AOS算法非均匀有理B样条曲线

Keywords

Multi-objective optimizationTrajectory planningAOS algorithmNon-uniform rational B-spline curve

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