TY - JOUR
T1 - A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators
AU - Chen, Chun Ta
AU - Liao, Te Tan
N1 - Funding Information:
This work is supported by the National Science Council of the ROC under the Grant NSC 98-2221-E-212-026 .
PY - 2011/2
Y1 - 2011/2
N2 - 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.
AB - 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.
KW - Conjugate gradient method
KW - Hybrid strategy
KW - Parallel platform manipulator
KW - Particle swarm optimization
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=78049293668&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78049293668&partnerID=8YFLogxK
U2 - 10.1016/j.rcim.2010.06.012
DO - 10.1016/j.rcim.2010.06.012
M3 - Article
AN - SCOPUS:78049293668
SN - 0736-5845
VL - 27
SP - 72
EP - 81
JO - Robotics and Computer-Integrated Manufacturing
JF - Robotics and Computer-Integrated Manufacturing
IS - 1
ER -