A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators

Chun-Ta Chen, Te Tan Liao

研究成果: 雜誌貢獻文章

29 引文 斯高帕斯(Scopus)

摘要

In planning the trajectories of motor-driven parallel platform manipulators, the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the possible trajectories of the manipulator are modeled using a parametric path representation, and the optimal trajectory is then obtained using a hybrid scheme comprising the particle swarm optimization method and the local conjugate gradient method. The numerical results confirm the feasibility of the optimized trajectories and show that the hybrid scheme is not only more computationally efficient than the standalone particle swarm optimization method, but also yields solutions of a higher quality.

原文英語
頁(從 - 到)72-81
頁數10
期刊Robotics and Computer-Integrated Manufacturing
27
發行號1
DOIs
出版狀態已發佈 - 2011 二月 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

指紋 深入研究「A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators」主題。共同形成了獨特的指紋。

  • 引用此