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3 基于不同算法的6R勃朗特机器人轨迹优化结果对比

Table 3 Comparison of trajectory optimization results of 6R Bronte robot based on different algorithms

优化解 S1/s S2/(°)·s-2 S3/(°)·s-3 A1 13.640 5 35.780 0 46.704 7 B1 19.380 4 17.173 1 14.517 7 C1 34.914 7 5.113 7 2.409 3 A2 14.479 3 39.637 5 48.826 2 B2 19.399 6 18.770 5 17.431 0 C2 34.905 2 5.470 5 2.752 5 A3 17.183 7 43.795 2 48.581 1 B3 19.922 2 17.919 2 15.717 6 C3 35.141 9 5.047 9 2.536 4