基于遗传算法的工业机器人最优运动规划研究-控制理论与控制工程专业论文.docxVIP

河南科技大学硕士学位论文The 河南科技大学硕士学位论文 The Study of Optimization Motion Planning of Industrial Robot B ased on Genetic Algorithm AB STRACT The methods of optimization motion plan of industrial multi—joint robot are studied in this paper．A optimization working path aimed at shortest time is proposed based on the suppose of non—obstacle work space according to working characteristics of welding robot．This optimization working path is compo sed of two parts，namely，exert optimization method in the industrial robot to find the shortest path among those working points when the operating point is very large in quantity，then find the shortest path between two nearby working points on the working path．This optimization method can avoid“combination explosion”，have good quality in operation，can satisfy the real application condition of industrial multi—joint robot，can be apply to offline robot programming although it can not guarantee the shortest time． A overall path plan aimed at shortest distance is studied in this paper．The optimization programs are written by VC++．And related experiments is carried through． Genetic algorithm is choosed in the study of optimization algorithm by analysis and comparison．The crossover perators of l- classic genetic algorithm is developed by the introduction of greedy operators to quicken the convergence speed．To solve forepart convergence and local convergence，a gene embedded method based on biology atavism is added in operation to improve the effect of convergence．This method is applied successfully in sequence plan of Ⅱ 摘要 摘要 industrial multi—joint robot The feasibility and validity of this method is proved by both computer emulational operation results and the experiment results of the GRB一400 robot． Key Wo rdS： industrial multi—joint manipulator，motion plan， trajectory plan，genetic algorithm，gene embedded method I V IE 第一章绪论第一章 第一章绪论 第一章 绪论 §1．1本课题选题依据及意义 自从二十世纪五十年代中期发明第一台工业机器人以来，工业机 器人被广泛应用于电焊、弧焊、喷漆、切割、装配、打毛刺、锻压、 装卸、搬运、包装检测等涉及工业应用的众多场合。据统计到200