基于改进粒子群算法的冗余机器人喷涂轨迹优化

钟艺鹏,沙建军,张一飞,杨汶龙,殷婷,马祥龙

Spraying trajectory optimization for redundant robots based on improved particle swarm algorithm

Yipeng ZHONG,Jianjun SHA,Yifei ZHANG,Wenlong YANG,Ting YIN,Xianglong MA

表 4 曲线喷涂路径点

Tab.4 Path points of curved spraying task

路径点 x/mm y/mm z/mm $ {\theta _y} $/（°） 1 1 700 0 1 000 90 2 1 800 400 1 400 60 3 2 000 800 1 700 45 4 2 100 1 200 1 900 0 5 2 150 1 600 2 000 0 6 2 100 2 000 1 850 0 7 1 900 2 400 1 500 30 8 1 800 2 200 1 100 45 9 1 700 2 000 1 000 60 10 1 600 1 800 900 90