混联冗余机械臂关节轨迹规划研究OA

In order to investigate the impact of redundant joints on the motion of a robotic arm,the study is conducted on the redundant joint characteristics of an eight-degree-of-freedom hybrid robotic arm.Based on this,by adjusting the parameters of the particle swarm optimization algorithm and considering the range of motion of each joint,the coeffi-cients of the third-order polynomial trajectory are iteratively optimized to obtain different redundant joint trajecto-ries.Based on the given end effector motion trajectory and redundant joint trajectory,other joint motion trajectories are solved through kinematic inverse solutions.In order to comprehensively evaluate the performance of the robotic arm,a multi-objective model is established with the reduction of robotic arm torque and energy consumption as in-dicators.Simulation results indicate that the introduction of redundant joints can improve the energy consumption of the robotic arm,providing theoretical and methodological support for the robotic arm to perform tasks more flexibly and efficiently in practical applications.