基于多种群竞争松鼠搜索算法的机械臂时间最优轨迹规划
赵业和,刘达新,刘振宇,谭建荣

Time-optimal trajectory planning of manipulator based on multi-group competition squirrel search algorithm
Ye-he ZHAO,Da-xin LIU,Zhen-yu LIU,Jian-rong TAN
表 1 机械臂的D-H参数
Tab.1 D-H parameters of robotic arm
i αi−1/(°) ai−1/mm di/mm θi/(°)
1 0 0 249 0
2 90 0 0 0
3 90 0 264 0
4 −90 0 0 0
5 90 0 243 0
6 −90 0 0 −90
7 −90 90 80 −90