A novel control method for robotic belt grinding based on SVM and PSO algorithm
In this paper, a novel method for robotic belt gri nding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built using support vector machine method. This is the basis of our work because the dynamic model shows the relation between the removal and control parameters (contact force and robots speed) of robot. Secondly, the method of reverse solution of the dynamic model is introduced. According to this method, control parameters of robot can be accurately calculated by the given value of removal. Finally, the PSO algorithm is introduced to get smooth and stable trajectories of the control parameters, because the trajectory jitter of the control parameters has a great influence on the grinding accuracy. The experiment results show that the novel method for robotic belt grinding performs well in the control of the robot parameters and the grinding accuracy is improved.
Trajectory optimization robotic belt grind-ing dynamic model support vector machine particle swarm optimization trajectory planning
Wei Liang Yixu Song Hongbo Lv Peifa Jia Zhongxue Gan Lizhe Qi
State Key Laboratory on Intelligent Technology and Systems, Tsinghua National Laboratory for Informa InterSmart Robotic Systems Co., Ltd Langfang, HeBei 065001, China
国际会议
长沙
英文
258-261
2010-05-11（万方平台首次上网日期，不代表论文的发表时间）