The Research of The Serial Manipulator Autonomous Path-planning
For solving the problem of the serial manipulator autonomous path-planning, which is kinematics problem .An improved fuzzy control ant colony algorithm is put forward. This improved algorithm solves the inverse kinematics problem firstly, so that it can solve the problem of the serial manipulator autonomous path-planning . The improvement of the conventional ant colony algorithm, A fuzzy control intelligent pheromone updating method is added, this makes algorithm convergence increased ,computing time shortened, accuracy improved. the problem of the serial manipulator autonomous path-planning is successfully solved. the experiment of PUMA560 serial manipulator autonomous pathplanning is solved satisfactorily by the algorithm. Therefore, Practice has proved that the feasible method of the serial manipulator autonomous path-planning is presented by this paper.
path-planning problem kinematics problem fuzzy control ant colony algorithm inverse kinematics problem serial manipulator
Zhao Ming Dai Yong
Applied Technology College University of Science and Technology Liaoning City Anshan, 114051, Liaoni School of Electronic and Information Engineering University of Science and Technology Liaoning City
国际会议
秦皇岛
英文
1761-1765
2015-09-18（万方平台首次上网日期，不代表论文的发表时间）