基于改进粒子群算法的冗余机器人喷涂轨迹优化
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钟艺鹏,沙建军,张一飞,杨汶龙,殷婷,马祥龙
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Spraying trajectory optimization for redundant robots based on improved particle swarm algorithm
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Yipeng ZHONG,Jianjun SHA,Yifei ZHANG,Wenlong YANG,Ting YIN,Xianglong MA
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| 表 1 冗余机器人的Denavit-Hartenberg参数 |
| Tab.1 Denavit-Hartenberg parameters of redundant robot |
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| $ A_i $ | $ {\theta }_{i} $/rad | $ {d}_{i} $/mm | $ {L}_{i-1} $/mm | $ {\varphi }_{i-1} $/(°) | | A1 | $ {\theta }_{1} $ | 0 | 0 | $ {\varphi }_{0} $ | | A2 | $ {\theta }_{2} $ | 0 | 0 | $ {\varphi }_{1} $ | | A3 | $ {\theta }_{3} $ | 0 | 0 | $ {\varphi }_{2} $ | | A4 | $ {\theta }_{4} $ | 0 | $ {L}_{3} $ | $ {\varphi }_{3} $ | | A5 | $ {\theta }_{5} $ | $ {d}_{5} $ | 0 | $ {\varphi }_{4} $ | | A6 | $ {\theta }_{6} $ | $ {d}_{6} $ | 0 | $ {\varphi }_{5} $ | | A7 | $ {\theta }_{7} $ | $ {d}_{7} $ | 0 | $ {\varphi }_{6} $ | | A8 | $ {\theta }_{8} $ | $ {d}_{8} $ | 0 | $ {\varphi }_{7} $ |
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