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

Chun Ta Chen*, Te Tan Liao

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

47 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 2月
對外發佈

ASJC Scopus subject areas

  • 控制與系統工程
  • 軟體
  • 一般數學
  • 電腦科學應用
  • 工業與製造工程

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