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...
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Format: | Patent |
Sprache: | chi ; eng |
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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 |
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