Multi-objective Performance Optimization of Redundant Robots Using Differential Evolution

摘要：

An improved evolutionary algorithm -Nondominated sorting differential evolution (NSDE) is introduced to solve the multi-objective optimization problem of a redundant robot. The proposed algorithm not only makes the end effector follow the desired trajectory, but also simultaneously meets three optimization indexes, namely singularity avoidance, obstacle avoidance, and joint limit avoidance. A simulation is implemented to verify the feasibility of the method, and the results show that it is sound and effective.

关键词： redundant robot multi-objective optimization differential evolution

作者: Yu Liu Yanshu Jiang Linlin Li

作者单位: Robotic Research Institute,Harbin Institute of Technology,Harbin China School of Automation,Harbin University of Science and Technology,Harbin China

会议类型: 国际会议

会议名称: The 6th International Forum on Strategic Technology(IFOST 2011)(第六届国际战略技术论坛)

会议地点: 哈尔滨

会议语种:英文

页码: 410-414

在线出版日期: 2011-08-22（万方平台首次上网日期，不代表论文的发表时间）