Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (7): 1862-1868.doi: 10.13229/j.cnki.jdxbgxb.20230031

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Trajectory planning algorithm for grasping manipulator considering energy consumption and load factors

Xiao-hong TANG(),Yong-jian GONG   

  1. School of Mechanical and Electrical Engineering，Central South University of Forestry and Technology，Changsha 410000，China
  • Received:2023-01-06 Online:2024-07-01 Published:2024-08-05

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Abstract:

Because the trajectory planning of the grasping manipulator is unreasonable， the movement distance is increased， and a large amount of energy is lost. Therefore， an algorithm for trajectory planning of the grasping manipulator considering energy consumption and load factors is proposed. The kinematics model of the grasping manipulator is established according to the kinematics principle. The space position and attitude of each link are solved through homogeneous transformation matrix. The time interval sequence and cubic non-uniform B-spline interpolation algorithm are used to constrain the angle， velocity and acceleration of each joint， so as to optimize the energy consumption and load of its motion trajectory. The linear regression analysis equation is used to generate a new population， find out the optimal particle of the population and replace it with any particle in the original population， and the optimal movement trajectory of the population was found by repeating the process. Experimental results show that the proposed algorithm has fast convergence speed and minimum energy consumption.

Key words: energy consumption calculation, load balancing, grasping manipulator, motion track, kinematics, chaotic population, particle swarm optimization

CLC Number: 

  • TH16

Fig.1

Schematic diagram of spatial coordinate system of each link of grasping manipulator"

Fig.2

Schematic diagram of angular motion of 6 joints"

Fig.3

Schematic diagram of angular velocity change of 6 joints"

Fig.4

Schematic diagram of acceleration changes of 6 joint angles"

Table 1

Conditions of grasping arm rods"

杆序号

连杆

角度/（°）

连杆

长度

连杆

偏距

关节角旋转范围/（°）
1000±180
290300±90
30700±150
40700±150
5-903040±150
69000±180

Table 1

Energy consumption of 6 joints under each algorithm"

关节序号本文算法文献［4］算法文献［5］算法
120876J22816J22163J
219356J20921J20671J
320135J21085J20517J
417834J19547J18951J
519832J20849J20812J
621094J22714J21427J

Fig.5

Comparison and analysis of convergence speedof algorithms"

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