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2 6R勃朗特机器人各关节的运动学约束

Table 2 Kinematic constraints of each joint of 6R Bronte robot

关节m	v_m /(°)·s^-1	a_m /(°)·s^-2	j_m /(°)·s^-3
1	100	60	60
2	95	60	66
3	100	75	85
4	150	70	70
5	130	90	75
6	110	80	70