Mechanical Arm Trajectory Planning Based on B-Spline and Whale Optimization Algorithm

被引：1
作者：
Lu, Zhi-Guo [1 ]
Wang, Xiao [1 ]
机构：
[1] School of Mechanical Engineering ＆ Automation, Northeastern University, Shenyang
来源：
Dongbei Daxue Xuebao/Journal of Northeastern University | 2024年 / 45卷 / 05期
关键词：
B‑spline; mechanical arm; Monte‑Carlo method; time optimal trajectory planning; whale optimization algorithm（WOA）;
D O I：
10.12068/j.issn.1005-3026.2024.05.010
中图分类号：
学科分类号：
摘要：
In order to improve the efficiency of mechanical arms，the time optimal trajectory planning method based on the B‑spline and whale optimization algorithm（WOA）is proposed. The Monte‑Carlo method is used to describe the workspace of the mechanical arms，and then the B‑spline is used to interpolate the given path points. According to the performance of each joint of the manipulator，the angular velocity and angular acceleration constraints are introduced，and the boundary conditions are added. After constructing the target function with optimal time，the WOA with inertia weight is used to optimize the running time of the mechanical arm. Finally，using Matlab for simulation，the results show that the algorithm presented is better than the traditional quintic polynomial method in terms of time optimization，and the angular velocity and angular acceleration curve are continuously smoothed，which verifies the validity and feasibility of the algorithm. © 2024 Northeast University. All rights reserved.
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页码：683 / 689
页数：6
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