Background
Model
Trajectory planning analysis
Improvement in genetic algorithm
Combining the improved algorithm with trajectory planning
Problem description
Time-optimal simulation
Joint i | Constraints | ||
---|---|---|---|
\( \theta^{\prime } (t)/(^{ \circ } /{\text{s}}) \)
|
\( \theta^{{\prime \prime }} (t)/(^{ \circ } /{\text{s}}^{2} ) \)
|
\( \theta^{{{\prime \prime \prime }}} (t)/(^{ \circ } /{\text{s}}^{3} ) \)
| |
1 | 100 | 45 | 60 |
2 | 95 | 40 | 60 |
3 | 100 | 75 | 55 |
4 | 150 | 70 | 70 |
5 | 130 | 90 | 75 |
6 | 110 | 80 | 70 |
Time interval | Joint i | |||
---|---|---|---|---|
Initial value | 1 | 2 | 3 | |
\( h_{1} \)
| 4 | 2.785 | 2.113 | 3.349 |
\( h_{2} \)
| 4 | 2.032 | 2.128 | 2.064 |
\( h_{3} \)
| 4 | 2.316 | 1.764 | 1.626 |
\( h_{4} \)
| 4 | 1.578 | 1.918 | 1.659 |
\( h_{5} \)
| 4 | 1.824 | 1.706 | 2.113 |
\( h_{6} \)
| 4 | 1.487 | 1.874 | 1.629 |
\( h_{7} \)
| 4 | 1.707 | 2.878 | 2.208 |
Total time (s) | 28 | 13.729 | 14.381 | 14.648 |