Trajectory planning in parallel kinematic manipulators using a constrained multi-objective evolutionary algorithm

Chun Ta Chen, Hoang Vuong Pham*

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

36 引文 斯高帕斯(Scopus)

摘要

Generating manipulator trajectories considering multiple objectives with kinematics and dynamics constraints is a non-trivial optimization. In this paper, a constrained multi-objective genetic algorithm (MOGA) based technique is proposed to address this problem for a general motor-driven parallel kinematic manipulator. The planning process is composed of searching for a motion ensuring the accomplishment of the assigned task, minimizing the traverse time, and expended energy subject to various constraints imposed by the associated kinematics and dynamics of the manipulator. This problem is treated via an adequate parametric path representation in the task space of the moving platform, and then the use of the constrained MOGA for solving the resulted nonlinear multi-objective optimization problem. Simulation results are presented for the trajectories of the parallel kinematic manipulator, and a subsequent comparison with the weighted sum method is also carried out.

原文英語
頁(從 - 到)1669-1681
頁數13
期刊Nonlinear Dynamics
67
發行號2
DOIs
出版狀態已發佈 - 2012 一月

ASJC Scopus subject areas

  • 控制與系統工程
  • 航空工程
  • 海洋工程
  • 機械工業
  • 應用數學
  • 電氣與電子工程

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