Research On Trajectory Planning Of Manipulator Based On Modified Firefly Algorithm

Under the background that the country vigorously advocates intelligent manufacturing,the robotic arm is used as an important carrier by more and more production companies to complete various production tasks in a complex environment.In this paper,an improved firefly algorithm is proposed based on the kinematics analysis of the domestic 6-DOF manipulator.It is applied to the trajectory planning and obstacle avoidance planning of the manipulator joint space,and the simulation software is used to verify it.Firstly,the improved D-H method is used to establish the kinematics model of the manipulator,and the forward and inverse kinematics equations are derived,and the expressions of the forward and inverse solutions are obtained.The Robotics toolbox in MATLAB software is used to establish the manipulator model,and the correctness of the derived kinematics equations is verified by calling the functions.Secondly,aiming at the trajectory planning of manipulator in joint space,the advantages and disadvantages of cubic polynomial,quintic polynomial and 3-5-3 piecewise polynomial interpolation are analyzed.In order to avoid the disadvantages of single polynomial interpolation,such as large amount of calculation and prone to "Runge phenomenon",3-5-3piecewise polynomials are selected for interpolation,and MATALB software is used to simulate it,and the position of each joint of manipulator is obtained The movement,velocity and acceleration curves are continuous and smooth,which improves the operation stability and trajectory planning accuracy of the manipulator.Then,after introducing the basic principle of the firefly algorithm,the step factor and light absorption coefficient of the standard firefly algorithm are improved,and a trajectory planning method based on 3-5-3 piecewise polynomial interpolation with optimal time is proposed.Taking the interpolation time as the optimization objective,the improved algorithm is used for iterative optimization under the constraint of speed,so as to achieve the goal The purpose of the arm running time is the shortest.Using MATLAB software for simulation analysis,the results show that the method has good performance in running time and running stability,and by comparing the optimization effect before and after the improvement of firefly algorithm,it further proves the effectiveness of the improved algorithm.Finally,after the application of cylinder envelope method to simplify and establish the model of the manipulator and obstacles,taking the combined potential energy in the artificial potential field model as the fitness value,the improved firefly algorithm is applied to the Obstacle Avoidance Trajectory Planning of the manipulator for iterative optimization,and a collision free safe path is obtained,which is analyzed and verified by MATLAB software.