基于改进麻雀搜索算法的机械臂多目标轨迹优化方法

李玲,侯玉龙,李瑶,罗丹,解妙霞

Multi-objective trajectory optimization method for manipulator based on improved sparrow search algorithm

Ling LI,Yulong HOU,Yao LI,Dan LUO,Miaoxia XIE

表1 机械臂的D-H参数

Table 1 D-H parameters of manipulator

关节i	α_i_-1/(°)	a_i_-1/mm	d_i /mm	$θ_{i}$ /(°)
1	-90	64.2	169.77	$θ_{1}$
2	0	305.0	0	$θ_{2}$
3	90	0	0	$θ_{3}$
4	-90	0	222.63	$θ_{4}$
5	90	0	0	$θ_{5}$
6	0	0	36.25	$θ_{6}$