关键词: 轨迹优化, 时间最优, 粒子群优化算法, 动态调整

Abstract: To address the issues of low motion efficiency,long operation time and poor stability during the operation of multi-degree-of-freedom hydraulic mechanical arms,an Adaptive Dynamic Particle Swarm Optimization (ADPSO) algorithm was proposed to optimize the motion trajectory of the mechanical arms. Firstly,the kinematics of the mechanical arm operation was analyzed,and a five-time B-spline curve was established to fit the motion trajectory of the mechanical arm; then,with the mechanical arm operation time as the optimization objective,an adaptive dynamic particle swarm optimization algorithm was designed to optimize the motion trajectory constructed by the five-time B-spline curve; finally,the standard particle swarm optimization algorithm,the improved particle swarm optimization algorithm and the algorithm proposed were used to optimize the motion trajectory of the mechanical arm respectively. The simulation results show that the motion time of the mechanical arm obtained by the algorithm proposed was 22.61 s,which is improved by 39.2 % and 26.1 % compared with the other two algorithms respectively,and the motion trajectory was continuous and smooth,verifying the effectiveness of the algorithm proposed for the motion trajectory optimization of multi-degree-of-freedom mechanical arms,and enabling efficient movement of multi-degree-of-freedom mechanical arms.

Key words: trajectory optimization, time optimization, particle swarm optimization algorithm, dynamic adjustment