基于遗传算法的插接管道焊缝扫查机器人能量最小轨迹优化

针对插接管道焊缝扫查机器人末端执行器连续轨迹规划必须满足的运动限制条件,建立了安装高度可调节的全局能量最小优化多目标组合模型,该模型综合考虑了机器人的避障、末端轨迹精度、动力学约束与冗余度能量最小优化问题.基于遗传算法给出了针对该能量最小优化模型的轨迹搜索方法.仿真结果验证了该方法的有效性,并可推广应用到其他类型机器人.

Minimal Energy Trajectory Plan of Weld Inspection Manipulator for Intersected Pipes Based on Genetic Algorithm

A weld inspection manipulator for intersected pipes was investigated. According to the requirement of motion constraints by Cartesian trajectory, a multi-object model based on the criteria of global minimal energy optimization for the manipulator was established, in which the flexible mounting height is also considered. The model encapsulates the issues of obstacle avoidance, trajectory accuracy of end-effector, dynamic constrains and minimal energy optimization criterion based on redundancy. The stochastic search strategy for the problem of minimal energy optimization was also proposed using genetic algorithm. This work was demonstrated by the results of simulation. It also has a wide range of application for other industry manipulators.