Trajectory Planning Based on Multi-objective Optimization for Redundant Robots

被引：0
|
作者：
Gong, Mingde [1 ]
Chen, Kaiwen [1 ]
Zhao, Kuo [1 ]
Chang, Peiyu [1 ]
机构：
[1] Jilin Univ, Sch Mech Sci & Engn, Changchun, Peoples R China
来源：
2016 3RD INTERNATIONAL CONFERENCE ON SYSTEMS AND INFORMATICS (ICSAI) | 2016年
基金：
新加坡国家研究基金会;
关键词：
Redundant Robot; Trajectory Planning; Obstacle Avoidance Potential Function; Multi-objective Optimization; Optimal Flexibility;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a method for multi-objective optimization of trajectory planning of redundant manipulators is proposed. According to the target optimization theory and the performance index of redundant robot, the obstacle avoidance potential function is used as the inequality constraints. The optimization problem is transformed into a single objective optimization problem, and the optimal solution of the redundant manipulator is obtained, and the trajectory planning for the redundant manipulators is accomplished. The simulation analysis of the trajectory of the proposed method is carried out, and the results show the effectiveness of the proposed method.
引用
收藏
页码：133 / 138
页数：6
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