| 工业机器人时间最优轨迹规划仿真研究 |
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| 引用本文： | 张惠敏.工业机器人时间最优轨迹规划仿真研究[J].教育技术导刊,2020,19(3):53-56. |
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| 作者姓名： | 张惠敏 |
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| 作者单位： | 广东技术师范大学天河学院 电气与电子工程学院，广东 广州510405 |
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| 基金项目： | 广东省重点培育学科项目（Sjp201702）；智能机器人焊接项目（201812GCZX004） |
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| 摘 要： | 为了使工业机器人在某个轨迹下执行焊接任务的时间最短，采用改进的模拟退火算法作为优化方法，对工业机器人关节轨迹进行时间最优规划。仿真结果表明，与其它同约束条件下的轨迹规划算法相比，采用新型算法后，机器人焊接时间缩短了1.24s，从而验证了该算法的有效性。
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| 关 键 词： | 模拟退火算法 轨迹规划 工业机器人 |
| 收稿时间： | 2019-04-19 |
Simulation and Research of Industrial Robots on Time Optimal Trajectory Planning |
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| ZHANG Hui-min.Simulation and Research of Industrial Robots on Time Optimal Trajectory Planning[J].Introduction of Educational Technology,2020,19(3):53-56. |
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| Authors: | ZHANG Hui-min |
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| Institution: | School of Electrical and Electronic Engineering，Tianhe College of Guangdong Polytechnical Normal University，Guangzhou 510405，China |
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| Abstract: | In order to shorten the time for an industrial robot to perform the welding task under a certain trajectory， the improved simulated annealing algorithm is used as the optimization method to optimize the trajectory of the industrial robot in this paper. The simulation results show that compared with other trajectory planning algorithms under the same constraints， with the new algorithm，the time of industrial robot to perform the welding task is shortened by 1.24S， which verifies the effectiveness of the algorithm. |
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| Keywords: | simulated annealing algorithm trajectory planning industrial robots |
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