[1]孙祥云,邵辉,赵家宏.采用粒子群优化算法的液压挖掘机高效空中运动轨迹规划方法[J].华侨大学学报(自然科学版),2014,35(5):498-502.[doi:10.11830/ISSN.1000-5013.2014.05.0498]
　SUN Xiang-yun,SHAO Hui,ZHAO Jia-hong.Efficient Air Motion’s Trajectory Planning Method of Hydraulic Excavator Based on Particle Swarm Optimization Algorithm[J].Journal of Huaqiao University(Natural Science),2014,35(5):498-502.[doi:10.11830/ISSN.1000-5013.2014.05.0498]
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采用粒子群优化算法的液压挖掘机高效空中运动轨迹规划方法()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第35卷
期数:
2014年第5期
页码:
498-502
栏目:
出版日期:
2014-09-20

文章信息/Info

Title:
Efficient Air Motion’s Trajectory Planning Method of Hydraulic Excavator Based on Particle Swarm Optimization Algorithm
文章编号:
1000-5013(2014)05-0498-05
作者:
孙祥云1;  邵辉1;  赵家宏2
1. 华侨大学 信息科学与工程学院, 福建 厦门 361021;2. 福建晋工机械有限公司, 福建 晋江 362261
Author(s):
SUN Xiang-yun1;  SHAO Hui1;  ZHAO Jia-hong2
1. College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China; 2. Fujian Jingong Machinery Company Limited, Jinjiang 362261, China
关键词:
液压挖掘机;  轨迹规划;  粒子群优化算法;  时间优化
Keywords:
hydraulic excavator;  trajectory planning;  particle swarm optimization algorithm;  time optimization
分类号:
TU621;TP271.31
DOI:
10.11830/ISSN.1000-5013.2014.05.0498
文献标志码:
A
摘要:
以铲斗姿势角为约束,利用三次多项式插值法进行轨迹规划,以铲斗尖运动的最短路径为目标,并以各关节的最大运动速度为约束,用粒子群优化(PSO)算法对各关节的运动时间进行优化.实验数据和仿真结果表明:经过粒子群算法优化后的轨迹规划方法可大幅度提高挖掘机空中运动的工作效率,并保证各关节运动的平稳性,实现运动路径最优的目标.
Abstract:
Satisfying the constraint condition of bucket attitude, cubic polynomial interpolation method is used for the trajectory planning on hydraulic excavators. Furthermore, particle swarm optimization(PSO)algorithm is employed to optimize the time of joint motion with the maximum joints’ velocity constraints, ensuring a shortest motion trajectory of bucket tip. The experimental data and simulation results show that the proposed trajectory planning algorithm greatly improves the working efficiency of excavator motion, guarantees the smooth movement of each joint, and obtains the optimal motion path in free space.

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备注/Memo

备注/Memo:
收稿日期: 2013-12-10
通信作者: 邵辉(1973-),女,讲师,主要从事机器人控制、运动规划、智能控制、非线性系统LPV建模的研究.E-mail:shaohuihu11@163.com.
基金项目: 国家自然科学基金资助项目(61203040); 福建省泉州市科技计划项目(2013Z34); 华侨大学引进人才科研启动项目(12Y0306)
更新日期/Last Update: 2014-09-20