Trajectory optimization using time-separating strategy with improved PSO on mechanical arms

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• 英文论文题名：Trajectory optimization using time-separating strategy with improved PSO on mechanical arms
• 论文作者：Zhu Meng ; Pan Feng ; Pan Chao ; Li Weixing ; Gao Qi
• 英文论文作者：Zhu Meng ; Pan Feng ; Pan Chao ; Li Weixing ; Gao Qi ; School of Automation ; Beijing Institute of Technology ; Kunming-BIT Industry Technology Research Institute INC ; Kunming Institute of Physics
• 年：2017
• 作者机构：School of Automation,Beijing Institute of Technology;Kunming-BIT Industry Technology Research Institute INC;Kunming Institute of Physics;
• 英文论文关键词：Trajectory Optimization ; B-spline ; PSO ; Crossover
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（B）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
• 语种：英文
• 分类号：TP242
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：567k
• 原文格式：D
• 会议级别：全国

摘要

In order to research the way to increase the efficiency of 6-DOF articulated manipulator,a technique of optimal trajectory planning is presented.The robot's key positions were presented by a series of postures in robot linkable model,which can be transformed into joint space as composed of value points of joints,each adjacent value points were connected by a period of B-spline curves.According to the robot's mechanical structure features and joints' drive modes,a strategy that divides six joints waist,shoulder,elbow and another three axis into two time-searching groups with different fitness functions in order to adjust the optimum focus is proposed in this paper.The modified particle swarm optimization(PSO) with crossover operator is utilized to optimize the joint trajectories.The experiment results verify the rationality and the effectiveness of the proposed method.
In order to research the way to increase the efficiency of 6-DOF articulated manipulator,a technique of optimal trajectory planning is presented.The robot's key positions were presented by a series of postures in robot linkable model,which can be transformed into joint space as composed of value points of joints,each adjacent value points were connected by a period of B-spline curves.According to the robot's mechanical structure features and joints' drive modes,a strategy that divides six joints waist,shoulder,elbow and another three axis into two time-searching groups with different fitness functions in order to adjust the optimum focus is proposed in this paper.The modified particle swarm optimization(PSO) with crossover operator is utilized to optimize the joint trajectories.The experiment results verify the rationality and the effectiveness of the proposed method.

引文

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