Time-optimal Trajectory Planning of Robot based on Breed Algorithm

Time-optimal Trajectory Planning of Robot based on Breed Algorithm

With the 6-DOF manipulators of the multi-arm casting robot as the research object,the trajectory planning is designed by the 4-3-4 polynomial interpolation method in the joint space. Under the constraint of velocity,the breed algorithm is used to optimize the interpolation results to obtain the opti...

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Bibliographic Details
Main Authors: Yu Rui, Wang Chengjun, Guo Yongcun, Zhang Yuping
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2018-01-01
Series:Jixie chuandong
Subjects:
6-DOF manipulator
Breed algorithm
Trajectory planning
Polynomial interpolation
Speed constraint
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.012

Internet

http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.07.012

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