Optimal Trajectory Planning for Robotic Manipulators Using Chicken Swarm Optimization

被引：22

作者：

Mu, Yu ^{[1
]}

Zhang, Lijuan ^{[1
]}

Chen, Xingran ^{[1
]}

Gao, Xueshan ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Mechatron, Beiijng, Peoples R China

来源：

2016 8TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC), VOL. 2 | 2016年

关键词：

trajectory planning; CSO; manipulator; B-spline;

D O I：

10.1109/IHMSC.2016.107

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The optimal trajectory planning is one fundamental problem in the area of robotic research. In this paper, chicken swarm optimization (CSO), a new bio-inspired algorithm, is applied to optimize the trajectory for the robotic manipulators. The trajectory is constructed by three-order B-spline curves and complies with the kinematical constraints. The algorithm adopts minimum travelling time as the objective function in order to obtain the optimal trajectory. The experiments are executed with a 6-DOF robotic manipulator that is applied to surface polishing of metallic workpiece. The experimental results verify the effectiveness of the method.

引用

页码：369 / 373

页数：5

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