Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO
In order to improve the working efficiency and stability of industrial robots,the trajectory of the robot is optimized. In the robot task space,the NURBS curve is used to describe end effector trajectory,the algorithm of the inverse kinematics of the robot is used to transform the task space traject...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.08.004 |
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| author | Li Li Fang Lijin Wang Guoxun |
| author_facet | Li Li Fang Lijin Wang Guoxun |
| author_sort | Li Li |
| collection | DOAJ |
| description | In order to improve the working efficiency and stability of industrial robots,the trajectory of the robot is optimized. In the robot task space,the NURBS curve is used to describe end effector trajectory,the algorithm of the inverse kinematics of the robot is used to transform the task space trajectory into the joint space.A constrained backbones multi-objective particle swarm optimization algorithm with adaptive penalty function is proposed to optimize the time,velocity,acceleration and jerk of the industrial robot. The algorithm uses the adaptive exponential penalty function to deal with the constraints,which help to guide the algorithm to enter the feasible area faster,and search better target value. Finally,the correctness and validity of the proposed algorithm are verified by robot machining experiment. |
| format | Article |
| id | doaj-art-550e9ed8bfa248eaa954ed0e78ebb6a2 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-550e9ed8bfa248eaa954ed0e78ebb6a22025-01-10T14:41:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142172229938098Trajectory Optimization for 6R Industrial Robot based on Multi-object PSOLi LiFang LijinWang GuoxunIn order to improve the working efficiency and stability of industrial robots,the trajectory of the robot is optimized. In the robot task space,the NURBS curve is used to describe end effector trajectory,the algorithm of the inverse kinematics of the robot is used to transform the task space trajectory into the joint space.A constrained backbones multi-objective particle swarm optimization algorithm with adaptive penalty function is proposed to optimize the time,velocity,acceleration and jerk of the industrial robot. The algorithm uses the adaptive exponential penalty function to deal with the constraints,which help to guide the algorithm to enter the feasible area faster,and search better target value. Finally,the correctness and validity of the proposed algorithm are verified by robot machining experiment.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.08.004RobotTrajectory optimizationPSOMulti-objective optimization algorithm |
| spellingShingle | Li Li Fang Lijin Wang Guoxun Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO Jixie chuandong Robot Trajectory optimization PSO Multi-objective optimization algorithm |
| title | Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO |
| title_full | Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO |
| title_fullStr | Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO |
| title_full_unstemmed | Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO |
| title_short | Trajectory Optimization for 6R Industrial Robot based on Multi-object PSO |
| title_sort | trajectory optimization for 6r industrial robot based on multi object pso |
| topic | Robot Trajectory optimization PSO Multi-objective optimization algorithm |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.08.004 |
| work_keys_str_mv | AT lili trajectoryoptimizationfor6rindustrialrobotbasedonmultiobjectpso AT fanglijin trajectoryoptimizationfor6rindustrialrobotbasedonmultiobjectpso AT wangguoxun trajectoryoptimizationfor6rindustrialrobotbasedonmultiobjectpso |