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 5 算法优化前后各路径点对应的冗余机器人外部轴位移
Tab.5 External axis displacements of redundant robot at each path point before and after algorithm optimization
路径点Δx/mm
文献[9]文献[14]本研究
1561.4553.1594.2
2804.9651.8871.8
31 003.5796.71 082.1
41 213.1951.51 356.4
51 385.31 357.41 479.1
61 569.61 649.21 607.7
71 884.41 913.51 811.3
81 811.81 803.31 788.5
91 698.21 705.21 788.5
101 698.21 705.21 788.5