On motion optimization of robotic manipulators with strong nonlinear dynamic coupling using support area level set algorithm |
| |
Authors: | Zhijun Li Kun Yang Stjepan Bogdan Bugong Xu |
| |
Affiliation: | 1. Key Lab of Autonomous System and Network Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China 2. Department of Mathematics, Shanghai Jiao Tong University, Shanghai, China 3. Department of Control and Computer Engineering, Faculty of EE&C, University of Zagreb, Zagreb, Croatia
|
| |
Abstract: | Aiming for a better dynamic performance from the robot beyond the physical limits set by the manufacturers, in this paper we propose to integrate the robot dynamics into motion planning and then to approximate the robot joint torques using parameterized B-splines. By introducing a high-dimensional non-linear fitness function, we transform the motion planning problem into an optimization of a non-linear fitness function, and then we develop the approach based on Support Area Level Set Algorithm (SALAS). It integrates dual-stage sampling strategies to avoid early convergence in a small search field and to improve the rate of convergence to the potential solution. The effectiveness of the proposed approach has been verified by the simulation of a two-link robotic manipulator. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|