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基于遗传算法的机器人手臂运动规划

上传者: qq_42789088 | 上传时间:2019/5/4 19:49:14 | 文件大小:1.31MB | 文件类型:ZIP
基于遗传算法的机器人手臂运动规划
该代码提出了遗传算法(GA)来优化3连杆(冗余)机器人的点对点轨迹规划手臂。
所提出的遗传算法的目标函数是在不超过最大值的情况下最小化旅行时间和空间预先定义的扭矩,不与机器人工作空间中的任何障碍物发生碰撞。
四次多项式和五次多项式用于描述连接起始点、中间点和最起点的连接段。
使用了直接运动学为了避免机器人手臂的奇异配置。
本软件ID:11061728

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