基于改进的自适应和声搜索算法的时间最优轨迹规划

根据机械臂运动约束，提出了关节空间基于改进的自适应和声搜索算法的三次样条插值轨迹规划。该算法采用自适应的记忆库取值概率、微调概率和调节步长产生新解。利用三次样条插值方法构造各关节位移、速度及加速度均连续的轨迹，然后由IAHS算法解算出最优时间。通过与基本和声搜索算法的对比，表明该算法有更强的寻优能力。

Minimum-Time Trajectory Planning for Manipulators Based on the IAHS Algorithm

According to the velocity limitation of manipulators, a time-optimal cubic splines interpolation trajectory planning is presented based on the improved adaptive harmony search （IAHS） Algorithm. Adaptive harmony consideration rate, pitch adjusting rate and band width are used to produce new solutions. Using cubic splines interpolation to construct the path that position, velocity, acceleration of each joint, the IAHS algorithm is used to get the time of the cubic splines interpolation. The simulation results show that the algorithm has good performance compared with the harmony search algorithm.