ROBOT INVERSE ACCELERATION SOLUTION BASED ON HYBRID GENETIC ALGORITHM

摘要：

As the complexity of Jacobian matrix and the second order influence coefficient matrix of a robot, and the difficulty of calculating inverse Jacobian matrix, the problem of solving inverse acceleration is more difficult for a robot with degrees-of-freedom (DOFs) less than 6. Aimed at this problem, an approach for solving the robot inverse acceleration problem has been proposed in this paper, In which the hybrid genetic algorithm (HGA) and robot links velocity and acceleration recursive formulas are employed to avoid calculation of inverse Jacobian matrix and the second order influence coefficient matrix. It is proved to be viable by practical computation of a 5-DOF robot inverse acceleration.

关键词： Robot Inverse acceleration solution Velocity recursion Acceleration recursion Hybrid genetic algorithm

作者: YONG-GUI ZHANG YU-MEI HUANG LI-MING XIE

作者单位: Key Laboratory of Digital Manufacturing Technology and Application, The Ministry of Education, Lanzh Xian University of Technology, Xian 710048,China School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou, 730050

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 2099-2103

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）