一种工业机器人多目标轨迹优化算法

李琴,贾英崎,黄玉峰,李刚,叶闯

A multi-objective trajectory optimization algorithm for industrial robot

Qin LI,Ying-qi JIA,Yu-feng HUANG,Gang LI,Chuang YE

表1 6R勃朗特机器人各关节轨迹点的位置 (°)

Table 1 Position of each joint trajectory point of 6R Bronte robot

关节m p1 p2 p3 p4 p5 p6 p7 p8 1 -14.40 -25.20 -43.20 -64.80 -86.40 -79.20 -115.20 -126.00 2 -115.20 -93.60 -82.80 -72.00 -50.40 -74.73 -43.20 -28.80 3 54.00 39.60 28.80 10.80 -3.60 44.50 7.20 0 4 0 0 0 0 0 0 0 0 5 61.20 54.00 42.15 64.32 52.34 30.23 36.00 28.80 6 75.60 64.80 46.80 25.20 3.60 10.80 -25.20 -36.00