基于综合改进遗传算法的机械手最优关节加速度研究

o find a curve that make the acceleration minimum in the case of the terminal trajectory is known and time has been set of loading and unloading manipulator, in order to reduce the tracking error, reduce force of the actuator and robot arm, limit resonance frequency of the manipulator and produce coordinated motion, it is necessary to optimize acceleration of the robot hand. Using five B spline curve fitting of each joint trajectory and using an improved genetic algorithm to find out the optimal solution in the MATLAB software of the joint's displacement, velocity, acceleration and impact curve. The experimental results show that five B spline can ensure trajectory curve smoothness and continuity, synthetically improved genetic algorithm is effectively to improve the premature convergence, slowly convergence speed and local optimal solution and other shortcomings of the genetic algorithm. Research found that the method can reduce the joint acceleration of loading and unloading manipulator, and it also provides a solution to the problem of manipulator's joint acceleration optimal trajectory planning under the nonlinear constrains.