基于RISC-V架构的机械臂轨迹规划控制系统研究与实现

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中图分类号：TP241；TP181 文献标志码：A 文章编号：1003-5168（2025）21-0023-04

DOI：10.19968/j.cnki.hnkj.1003-5168.2025.21.005

Abstract： [Purposes] To address issues such as unsmooth trajectory planning and low operational efficiency in the trajectory control of mechanical arms，this study takes a five-degree-of-freedom mechanical arm as the research object and proposes a trajectory planning control system that combines an improved Particle Swarm Optimization algorithm with a RISC-V architecture processor.[Methods] For the algorithm，the inertia weight，cognitive coefficient，and socialcoeficientintheParticle Swarm Optimization algorithm were dynamically adjusted in segments. Simultaneously， a random disturbance element was introduced into the velocity update formula to enhance convergence stability and search capability， followed by simulation experiments.For the controller，leveraging the open-source and customizable features of RISC-V，trajectory polynomial interpolation instructions and vector paralll addition instructions were added to the instruction set to improve the computational efficiency of the algorithm.The improved Particle Swarm Optimization algorithm was deployed and trajectory planning tasks were run on both ARM architecture and RISC-Varchitecture controllers，measuring performance indicators such as trajectory time，maximum joint velocity，acceleration，and controller power consumption.[Findings] The improved Particle Swarm Optimization algorithm significantly reduced trajectory planning time.The specific RISC-Vplatformoutperformed the ARM platform in termsof total planning time，velocity control， and energy consumption，validating the feasibility and eficiency of algorithm-architecture co-design. [Conclusions] The improved Particle Swarm Optimization algorithm is suitable for low-cost embedded platforms，and its combination with a specific RISC-V architecture controler can significantly enhance the overall system performance.

Keywords：RISC-V; trajectory planning;Particle Swarm Optimization algorithm;algorithm-architecture co-design; controller

0 引言

机械臂在现代社会中扮演着越来越重要的角色，被广泛应用于各个领域，推动着各行业的发展与变革[1]。（剩余3713字）