Application of Optimal Algorithm on Trajectory Planning of Mechanical Arm Based on B-Spline Curve

Tong Ying Guo; Feng Li; Kuan Huang; Feng Zhong Zhang; Qun Feng

doi:10.4028/www.scientific.net/AMM.376.253

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 376Application of Optimal Algorithm on Trajectory...

Application of Optimal Algorithm on Trajectory Planning of Mechanical Arm Based on B-Spline Curve

Abstract:

In order to improve the efficiency and practicality of trajectory planning of the mechanical arm, making the trajectory smooth and continuous, the method of B-spline curve of trajectory planning is adopted. Considering the three contraint conditions: the speed, the acceleration and the change rate of acceleration, the time interval of each curve is optimized using PSO (particle swarm optimization) algorithm. Simulation results show the PSO algorithm can reduce the time interval of each curve. This means that this method can effectively improve the operating efficiency of the mechanical arm.

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Periodical:

Applied Mechanics and Materials (Volume 376)

Pages:

253-256

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.376.253

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Online since:

August 2013

Authors:

Tong Ying Guo, Feng Li, Kuan Huang, Feng Zhong Zhang, Qun Feng

Keywords:

B-Spline Curve, Mechanical Arm, Time Optimal, Trajectory Planning

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