摘要
随着机器人技术的快速发展，机器人臂在工业生产、医疗手术和空间探索等领域中的应用日益广泛，其轨迹规划与动力学仿真的研究成为提升作业效率和精度的关键。本研究旨在针对机器人臂的复杂运动需求，提出一种结合优化算法与动力学仿真的综合方法，以实现高精度、高效的轨迹规划。具体而言，研究首先基于机器人动力学模型，构建了包含关节约束、路径平滑性和能耗最小化的多目标优化框架，并引入改进的粒子群算法进行求解。其次，通过建立精确的动力学仿真模型，验证了所设计轨迹的实际可行性与稳定性。实验结果表明，该方法能够在保证轨迹平滑性的同时显著降低能耗，并有效避免奇异点及碰撞风险。相比传统方法，本研究提出的优化策略在计算效率和轨迹质量方面均表现出明显优势。研究的主要贡献在于将优化算法与动力学仿真深度结合，为机器人臂的高效运行提供了理论支持和技术保障，同时为未来智能化机器人系统的开发奠定了基础。
关键词：机器人臂轨迹规划；动力学仿真；多目标优化；粒子群算法；奇异点 avoidance
Abstract
With the rapid development of robotics technology, robotic arms are increasingly applied in various fields such as industrial production, medical surgery, and space exploration, making the research on trajectory planning and dynamics simulation crucial for improving operational efficiency and precision. This study aims to address the complex motion requirements of robotic arms by proposing an integrated approach that combines optimization algorithms with dynamics simulation to achieve high-precision and efficient trajectory planning. Specifically, based on the dynamic model of the robotic arm, a multi-ob jective optimization fr amework was constructed, incorporating joint constraints, path smoothness, and minimum energy consumption, with an improved particle swarm optimization algorithm introduced for solving the problem. Furthermore, an accurate dynamics simulation model was established to verify the practical feasibility and stability of the designed trajectories. Experimental results indicate that this method can significantly reduce energy consumption while ensuring trajectory smoothness and effectively avoid singular points and collision risks. Compared with traditional methods, the proposed optimization strategy demonstrates evident advantages in both computational efficiency and trajectory quality. The primary contribution of this study lies in the deep integration of optimization algorithms and dynamics simulation, providing theoretical support and technical assurance for the efficient operation of robotic arms, and laying a foundation for the development of future intelligent robotic systems.
Keywords：Robot Arm Trajectory Planning; Dynamics Simulation; Multi-ob jective Optimization; Particle Swarm Algorithm; Singular Point Avoidance
目 录
摘要 I
Abstract II
一、绪论 1
(一) 机器人臂轨迹规划的研究背景与意义 1
(二) 动力学仿真领域的研究现状分析 1
(三) 本文研究方法与技术路线 2
二、轨迹规划的数学建模与算法设计 2
(一) 机器人臂运动学基础分析 2
(二) 轨迹规划的数学模型构建 3
(三) 常见轨迹规划算法的对比研究 3
(四) 轨迹优化的关键问题探讨 4
三、动力学仿真的理论与实现 4
(一) 机器人臂动力学方程的建立 4
(二) 动力学仿真中的关键参数分析 5
(三) 仿真工具与平台的选择与应用 5
(四) 动力学仿真结果的验证与评估 6
四、轨迹规划与动力学仿真的集成研究 6
(一) 集成系统的设计框架与思路 6
(二) 轨迹规划与动力学仿真的协同优化 7
(三) 实验验证与数据分析 7
(四) 系统性能评价与改进方向 8
结 论 9
参考文献 10
