基于改进樽海鞘群算法的机械臂多目标轨迹规划研究

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中图分类号：TP241.2

DOI：10.3969/j.issn.1004-132X.2025.09.017

Multi-objective Trajectory PlanningofManipulators Based on Improved SSA

LIU Jianlin1HUANG Haisong12* FAN Qingsong1.3 MA Chi1ZHANG Langlang1

1.Key Laboratory of Advanced Manufacturing Technology，Ministry of Education，Guizhou University， Guiyang，550025

2.Guizhou Province Equipment Manufacturing Digital Workshop Modeling and Simulation Engineering Research Center，Guiyang，550025 3.School of Mechanical Science and Engineering，Huazhong University of Science and Technology， Wuhan，430074

Abstract： To optimize the three objectives of eficiency，energy consumption and impacts at the same time，a multi-objective trajectory planning model was proposed based on an improved SSA. Firstly，the ar tificial potential field method（APF）was used for path planning to obtain the shortest and colision-free path of the manipulator grasping the materials，and the key motion sequence was extracted to establish a multi-objective function. Then，aiming at the problems of multi-objective salp swarm algorithm （MSSA）， such as poor diversity of initial population，easy to fallinto local optimum and slow convergence in solution set space，an improved algorithm namely logistic-sine multi-objective salp swarm algorithm（LMSSA）was proposed. The algorithm combined logistic-sine chaotic mapping，pinhole imaging learning strategy and golden sine development strategy to optimize the control nodes of the seventh-order B-spline curve and complete the multi-objective motion trajectory planning of the robotic arms.Finaly，the trajectory planning model was applied to the actual grasping tasks of the manipulator UR16e by building MATLABCoppeliaSim-UR16e experimental platform. Experimental results show that based on LMSSA，the manipulator motion planning method realizes the accurate，eficient and energy-saving motion trajectory planning of the manipulator，and is successfully applied to the actual operation scenes.

Key words： trajectory planning; multi-objective optimization; manipulator; salp swarm algorithm（SSA）

0 引言

伴随着工业革命的潮流，机械臂作为一种高度智能化、集成化、自动化的机器，在制造业中发挥着重要作用。（剩余12225字）