Optimization on Trajectory of Stanford Manipulator based on Genetic Algorithm

摘要：

　　The optimization of robot manipulators trajectory has become a hot topic in academic and industrial fields.In this paper,a method for minimizing the moving distance of robot manipulators is presented.The Stanford Manipulator is used as the research object and the inverse kinematics model is established with Denavit-Hartenberg method.Base on the initial posture matrix,the inverse kinematics model is used to find the initial state of each joint.In accordance with the given beginning moment,cubic polynomial interpolation is applied to each joint variable and the positive kinematic model is used to calculate the moving distance of end effector.Genetic algorithm is used to optimize the sequential order of each joint and the time difference between different starting time of joints.Numerical applications involving a Stanford manipulator are presented.

作者: Xi Han

作者单位: School of Mechanical Engineerin,University of Science and Technology Beijing,100083 Beijing,China

会议类型: 国际会议

会议名称: 2017 International Conference on Electronic Information Technology and Computer Engineering (EITCE 2017)(2017电子信息技术与计算机工程国际会议)(EITCE2017)

会议地点: 珠海

会议语种:英文

页码: 1-7

在线出版日期: 2017-09-23（万方平台首次上网日期，不代表论文的发表时间）