On the Global Optimum Motion Planning for Dynamic Coupling Robotic Manipulators Using Particle Swarm Optimization Technique

摘要：

In this paper, global optimization approach using particle swarm optimization technique for motion planning of dynamic coupling robotic manipulators, involving the optimization of dynamic performance criteria, has been shown to exhibit certain advantages compared with local optimizers. In this approach, the joint torques of the robotic manipulator are approximated by parameterized B-spline functions, and then the particle swarm optimization algorithm is used to determine the optimal parameters. The optimal motion is thus obtained which satisfies the dynamic constraints condition. By performing numerical simulations, the effectiveness of the proposed motion planning by particle swarm optimization technique is verified.

作者: Zhijie Wen Jun Luo Zhijun Li

作者单位: Department of Automation,Shanghai Jiao Tong University,Shanghai,China School of Mechatronics Engineering & Automation,Shanghai University,Shanghai

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: 2177-2182

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）