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
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赵业和,刘达新,刘振宇,谭建荣
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Time-optimal trajectory planning of manipulator based on multi-group competition squirrel search algorithm
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Ye-he ZHAO,Da-xin LIU,Zhen-yu LIU,Jian-rong TAN
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| 表 3 不同路径点数下各算法得到的插值时间对比 |
| Tab.3 Comparison of interpolation time calculated by various algorithms under different number of path points |
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| 点数 | $ {t_{{\text{GA}}}} $/s | ${t_{{\text{SSA}}}}$/s | ${t_{{\text{MSSA}}}}$/s | ${I_{{\text{SSA}}}}$/% | ${I_{{\text{MSSA}}}}$/% | | 7 | 13.432 6 | 12.569 5 | 12.522 8 | 6.425 4 | 6.773 1 | | 8 | 15.252 4 | 13.771 7 | 13.646 7 | 9.708 0 | 10.527 5 | | 9 | 16.566 1 | 15.763 8 | 15.049 4 | 4.843 0 | 9.155 4 | | 10 | 18.014 9 | 16.847 9 | 16.171 5 | 6.478 0 | 10.232 6 | | 11 | 19.629 1 | 17.713 9 | 17.505 1 | 9.756 9 | 10.820 7 | | 12 | 21.862 3 | 19.590 9 | 18.928 4 | 10.389 6 | 13.419 9 | | 13 | 23.129 3 | 20.932 9 | 19.766 9 | 9.496 2 | 14.537 4 | | 14 | 24.193 2 | 22.209 0 | 21.256 7 | 8.201 5 | 12.137 7 | | 15 | 26.475 5 | 23.676 0 | 22.580 1 | 10.573 9 | 14.713 2 | | 16 | 30.319 4 | 27.810 1 | 25.683 9 | 8.276 2 | 15.288 9 | | 17 | 33.922 3 | 30.674 3 | 29.208 6 | 9.574 8 | 13.895 6 | | 18 | 34.506 4 | 31.016 3 | 30.525 7 | 10.114 4 | 11.536 1 | | 19 | 36.061 2 | 33.230 9 | 32.802 3 | 7.848 6 | 9.037 1 | | 20 | 39.790 4 | 36.577 9 | 34.787 0 | 8.073 6 | 12.574 4 |
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