Multi-Target Trajectory Optimization of Dual-Arm Robot Based on NSGA-II Algorithm

摘要

In order to solve the problems of low working efficiency, large energy consumption loss and strong joint wear during the operation of the robot, an algorithm based on NSGA-II is proposed to optimize the time, energy consumption and impact trajectory of the dual-arm robot mounted on the plate. In this study, the forward motion model of the robot is established, and the inverse solution is obtained by improving the particle swarm optimization algorithm, and the dual-arm tight coordination model is deduced. Secondly, NSGA-II algorithm is used to optimize the time-energy-impact multi-objective of cubic B-spline curve, and fuzzy evaluation method is used to screen the potential optimal solution in Pareto solution set. Finally, Adams software is used to simulate and verify the correctness and effectiveness of the algorithm. The results of this paper provide an effective research method for dual-arm trajectory planning.