关键词: 工业机器人, 轨迹规划, 混沌搜索, 遗传算法, 混合优化算法

Abstract: In order to get the time optimal trajectory of industrial robot in consideration of the influence of the robot joint constraints, a mixed optimization algorithm is presented for the optimization of multimodal function. Firstly, it locates the vicinage of optimal solution based on chaos search algorithm, then searches the optimal solution within the limits of this vicinage with genetic algorithm. In the MATLAB platform, it programs the mixed algorithm to simulate the trajectory and compares it with the result of traditional genetic algorithm. The execution time of the mixed algorithm is 25.499 s, which is obviously shorter than 39.534 s of the control group. The results prove that the mixed algorithm has better global searching performance.

Key words: industrial robot, trajectory planning, chaotic search algorithm, genetic algorithm, mixed optimization algorithm