Track optimization method of circuit breaker flexible assembly robot

The invention relates to a track optimization method for a circuit breaker flexible assembly robot. The method comprises the steps: carrying out interpolation on a motion track of a circuit breaker flexible assembly robot through employing a quintic polynomial to obtain the motion track of the circu...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: SHU LIANG, CHEN XUAN, ZHANG QI, LENG YUXIANG, LIN YIGANG
Format: Patent
Sprache:chi ; eng
Schlagworte:
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:The invention relates to a track optimization method for a circuit breaker flexible assembly robot. The method comprises the steps: carrying out interpolation on a motion track of a circuit breaker flexible assembly robot through employing a quintic polynomial to obtain the motion track of the circuit breaker flexible assembly robot; wherein the quintic polynomial is a function of the position, the movement speed, the acceleration and the jerk of each joint of the circuit breaker flexible assembly robot with respect to time; constructing a target function based on the quintic polynomial; and optimizing the target function by adopting an improved particle swarm algorithm, optimizing initialized particles which do not conform to a first constraint condition, and optimizing particles which do not conform to a second constraint condition based on a switch type fitness function after calculating a fitness value of a particle swarm and determining a current individual extreme value and a current group extreme value