基于遗传算法的冗余度空间机械臂关节力矩优化方法
首发时间:2016-01-04
摘要:本文提出了一种基于遗传算法的冗余度空间机械臂关节力矩优化方法。首先,将机械臂点到点路径从笛卡尔空间向关节空间转换,并利用7次多项式插值法对机械臂变量进行参数化处理,将多项式方程的系数作为遗传算法的优化计算参数;然后以机械臂关节力矩均值和最小作为遗传算法求解过程中的目标函数,利用遗传算法的寻优原理对空间机械臂运行轨迹进行优化求解,从而得到机械臂关节力矩均值和最小的运行路径;最后,通过仿真实验验证算法的可行性和有效性。
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Joint Torque Optimization Method Based on Genetic Algorithm for Redundant Space Manipulator
Abstract:A joint torque optimization method is proposed based on genetic algorithm for redundant space manipulator in this paper. First, the point-to-point path of mechanical arm is converted from Cartesian space to joint space, and mechanical arm joint variables parameterized by N sub polynomial interpolatd method, and coefficients of polynomial equations are set as the optimization calculation parameters of genetic algorithm. Then, the minimum sum of mechanical arm joint torque is made as the objective function in the solving process of genetic algorithm. The optimization principle of genetic algorithm is used to optimize the operating trajectory of space manipulator, so as to obtain the path of the minimum sum of joint torque means of the manipulator. Finally, the feasibility and validity of the algorithm is verified by simulation.
Keywords: Space manipulator Joint torque optimization Genetic Algorithm
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