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 17 算法优化前后冗余机器人本体轴加速度对比 (曲线喷涂)

Fig.17 Base-axis acceleration comparison of redundant robot before and after algorithm optimization (curved spraying task)