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 2 机械臂的关节位置序列

Tab.2 Joint position sequence of robotic arm

点列 I/（°） 关节1 关节2 关节3 关节4 关节5 关节6 关节7 0 0 70 0 70 −20 −40 0 1 40 −5 −90 60 40 20 60 2 160 65 −10 20 5 −60 120 3 50 −10 −70 90 −60 20 −30 4 −25 50 −25 40 150 −70 60 5 −120 −40 −75 90 −5 −130 −50