CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.
School of Optoelectronics, University of Chinese Academy of Sciences, Beijing 100049, China.
Sensors (Basel). 2023 Mar 13;23(6):3074. doi: 10.3390/s23063074.
This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effector limits may violate kinematic constraints due to the non-linear relationship between the operation and joint space of redundant manipulators. A constraints conversion approach is proposed to update end-effector limits. The path can be divided into segments at the minimum of the updated limitations. On each path segment, the jerk-limited S-shaped velocity profile is generated within the updated limitations. The proposed method aims to generate end-effector trajectory by kinematic constraints which are imposed on joints, resulting in efficient robot motion performance. The WOA-based asymmetrical S-curve velocity scheduling algorithm can be automatically adjusted for different path lengths and start/end velocities, allowing flexibility in finding the time-optimal solution under complex constraints. Simulations and experiments on a redundant manipulator prove the effect and superiority of the proposed method.
本文提出了一种新的轨迹规划算法，用于设计末端执行器沿指定路径的运动轮廓。建立了基于鲸鱼优化算法（WOA）的优化模型，用于实现时间最优的非对称 S 形速度规划。由于冗余机械臂的操作空间和关节空间之间存在非线性关系，末端执行器的限制可能会违反运动学约束。提出了一种约束转换方法来更新末端执行器的限制。可以在更新限制的最小值处将路径划分为段。在每个路径段上，在更新的限制内生成急动度限制的 S 形速度轮廓。所提出的方法旨在通过施加到关节上的运动学约束来生成末端执行器轨迹，从而实现机器人的高效运动性能。基于 WOA 的非对称 S 形速度规划算法可以根据不同的路径长度和起始/结束速度自动调整，从而在复杂约束下灵活地找到时间最优解。在冗余机械臂上的仿真和实验证明了所提出方法的有效性和优越性。
