SALSA-based Motion Optimization for Robotic Manipulators with Strong Nonlinear Dynamic Coupling

摘要：

In this paper, the motion optimization for robotic manipulators is investigated by Support Area Level Set Algorithm (SALAS) through optimizing a high-dimensional nonlinear fitness function. The approach based on level set conception and the ability of Support Vector Machine(SVM) in distribution estimation integrates duel stages sampling strategies to avoid be converge in small search field too early and improve the rate of convergence to the potential solution. The simulations using two links robotic manipulators show satisfied results with SALSA.

作者: Kun Yang Zhijun Li Jun Luo Chunquan Xu

作者单位: Department of Automation,Shanghai Jiao Tong University,Shanghai,China School of Mechatronics Engineering & Automation,Shanghai University,Shanghai,China Department of Mechanical Engineering & Intelligent Systems,The University of Electro-Communications,

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2409-2414

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）