基于粒子群算法的喷浆机器人移动控制算法

针对简化的三自由度喷浆机器人进行定点目标的移动控制任务,研究一种基于粒子群寻优的移动控制算法。该方法以机器人位姿输出函数最小化为目标,进行优化计算,学习算法简单,具有很好的自适应性和鲁棒性。基于所提出的优化方法进行仿真实验,实验结果证明了所提方法是可靠有效的。

Shotcrete Robot Motion Control Algorithm Based on Particle Swarm Optimization

A optimized motion control algorithm based on particle swarm optimization was studied,oriented to how the simplified 3-DOF shotcrete robot to accomplish the movable controlling to a fixed point.Having the objective of minimum posing output function of the robot,this algorithm is simple and has a good self-adaptability and robustness.The experiments based on this optimized method are performed,and the results indicate that the method is effective.