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

图 14 算法优化前后冗余机器人外部轴速度对比 (曲线喷涂)

Fig.14 Velocity comparison of redundant robot’s external axis before and after algorithm optimization (curved spraying task)