Lower Distortion in Trajectory planning for a Rigid-flexible Manipulator Based on PSO Algorithm

被引：0

作者：

Yin, Hai Bin ^{[1
]}

Jiang, Ni Cong ^{[2
]}

Xu, Jin Li ^{[1
]}

Huang, Feng Yun ^{[1
]}

机构：

[1] Wuhan Univ Technol, Sch Mech & Elect Engn, Wuhan 430076, Hubei, Peoples R China

[2] Shandong Univ, Sch Mech Engn, Shandong 250061, Peoples R China

来源：

MECHATRONICS AND APPLIED MECHANICS II, PTS 1 AND 2 | 2013年 / 300-301卷

基金：

中国国家自然科学基金;

关键词：

Flexible manipulator; trajectory planning; lower distortion; optimization; PSO; MOTION;

D O I：

10.4028/www.scientific.net/AMM.300-301.458

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

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.

引用

页码：458 / +

页数：2

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