标题:Lower Distortion in Trajectory planning for a Rigid-flexible Manipulator Based on PSO Algorithm
作者:Yin, Hai Bin; Jiang, Ni Cong; Xu, Jin Li; Huang, Feng Yun
通讯作者:Yin, H B
作者机构:[Yin, Hai Bin; Xu, Jin Li; Huang, Feng Yun] Wuhan Univ Technol, Sch Mech & Elect Engn, Wuhan 430076, Hubei, Peoples R China.; [Jiang, Ni Cong] Shand 更多
会议名称:2nd International Conference on Mechatronics and Applied Mechanics (ICMAM2012)2nd International Conference on Mechatronics and Applied Mechanics (ICMAM2012)
会议日期:DEC 06-07, 2012;DEC 08-09, 2012
来源:MECHATRONICS AND APPLIED MECHANICS II, PTS 1 AND 2
出版年:2013
卷:300-301
页码:458-463
DOI:10.4028/www.scientific.net/AMM.300-301.458
关键词:Flexible manipulator; trajectory planning; lower distortion;; optimization; PSO
摘要:This paper presents a novel trajectory planning for a multilink rigid-flexible manipulator. An original trajectory is given according to the site condition and requirement of motion, and desired trajectory is determined by using an optimization. To satisfy the requirement of motion with restrictions, the desired trajectory cannot significantly deviate from the original trajectory. Consequently, the lower distortion in trajectory planning should be considered in optimization algorithm Two different formulations of trajectory are introduced in two optimization algorithms to compare the distortion degree. Finally, the calculation samples are addressed by using specific site conditions and requirements of motion to verify the validity of proposal.
收录类别:CPCI-S;EI;SCOPUS
资源类型:会议论文;期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-84874669198&doi=10.4028%2fwww.scientific.net%2fAMM.300-301.458&partnerID=40&md5=286e163f9ecb6e3cea417c16b29f9878
TOP