中圖分類號： TP241.2
文獻(xiàn)標(biāo)識碼： A
DOI： 10.19358/j.issn.2096-5133.2021.02.010
引用格式： 王鍇，關(guān)勝曉. 基于激光引導(dǎo)的SCARA的軌跡規(guī)劃與優(yōu)化[J].信息技術(shù)與網(wǎng)絡(luò)安全，2021，40(2)：56-65.

Trajectory planning and optimization of SCARA based on laser guidance

Abstract： In most application scenarios, the working path of SCARA robotic arms is fixed. In order to combine visual information and optimize the control method, laser proofing is used to guide SCARA actions. Using the Taozi TZ-500 SCARA robotic arm and MATLAB as the experimental platform, the D-H coordinate system method is used to establish the kinematics model of the robotic arm and obtain its working space. For the point-to-point trajectory, the paper uses the fifth-degree polynomial interpolation method to complete the planning in the joint space. For flexible multi-point trajectories, the cubic B-spline curve interpolation method is used to plan and obtain the cubic trajectories of adjacent points. For the problem that the acceleration at the start and end time is not zero, a correction factor is designed to ensure that the acceleration is zero. This method reduces the impact effectively. In order to shorten the running time, a new penalty function is designed in combination with constraint conditions and application scenarios. Improvement measures for the selection and mutation direction of genetic algorithms speed up the screening process. The experimental results show that using the improved genetic algorithm, the running time of the trajectory obtained is better than the trajectory before optimization, which effectively improves the operating efficiency and accuracy.

Key words : laser guidance；SCARA manipulator；trajectory planning；genetic algorithm