| 基于LM算法的机械臂轨迹规划研究 |
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| 引用本文： | 张晓航,王成群.基于LM算法的机械臂轨迹规划研究[J].教育技术导刊,2009,19(11):174-177. |
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| 作者姓名： | 张晓航 王成群 |
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| 作者单位： | 浙江理工大学 信息学院，浙江 杭州 310016 |
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| 基金项目： | 浙江省重点研发计划项目（2018C01093） |
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| 摘 要： | 针对提高多关节机械臂轨迹规划精准率和效率的问题，利用Peter Corke开发的robotics-toolbox工具箱在MATLAB上进行机械臂的运动学建模，并设计了一种轨迹规划算法。该算法依托于LM算法，结合逆运动学获取关节角序列位置，在对应相关轨迹的同时，确保关节角速度和加速度曲线连续且光滑。研究结果表明，通过该算法不但可以得到相对稳定的运动曲线，其迭代速度相比传统的梯度下降法，在拟合离散点过程中具有更快的迭代速度。
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| 关 键 词： | 机械臂 LM算法 轨迹规划 MATLAB Toolbox 最小二乘法 工业互联网 机器人 |
| 收稿时间： | 2020-09-15 |
Trajectory Planning of Manipulator Based on LM Algorithm |
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| ZHANG Xiao-hang,WANG Cheng-qun.Trajectory Planning of Manipulator Based on LM Algorithm[J].Introduction of Educational Technology,2009,19(11):174-177. |
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| Authors: | ZHANG Xiao-hang WANG Cheng-qun |
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| Institution: | School of Informatics Science and Technology， Zhejiang Sci-Tech University， Hangzhou 310016， China |
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| Abstract: | In order to improve the accuracy and efficiency of trajectory planning of multi joint manipulator， this paper uses the robotics toolbox developed by Peter Corke to build the kinematics model of the manipulator on MATLAB， and designs a trajectory planning algorithm. Based on LM algorithm， the algorithm combines inverse kinematics to obtain the position of joint angle sequence， and ensures that the joint angular velocity and acceleration curves are continuous and smooth while corresponding to relevant trajectories. The results show that the algorithm can not only get relatively stable motion curve， but also has faster iteration speed than the traditional gradient descent method in the process of discrete points fitting. |
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| Keywords: | manipulator LM algorithm trajectory planning MATLAB Toolbox least square method industrial Internet robot |
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