Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm
文献类型：期刊论文
| 作者 | Wu, Jing1,2 ; Wu, Huapeng2; Song, Yuntao1; Cheng, Yong1; Zhao, Wenglong1; Wang, Yongbo2
|
| 刊名 | FUSION ENGINEERING AND DESIGN
 |
| 出版日期 | 2016-11-01 |
| 卷号 | 109期号:无页码:700-706 |
| 关键词 | Eama Genetic Algorithm Minimum Jerk Interpolation Polynomial Trajectory Planning |
| DOI | 10.1016/j.fusengdes.2016.02.015 |
| 文献子类 | Article |
| 英文摘要 | EAMA (EAST Articulated Maintenance Arm) is an articulated serial manipulator with 7 degrees of freedom (DOF) articulated arm followed by 3-DOF gripper, total length is 8.867 m, works in experimental advanced superconductor tokamak (EAST) vacuum vessel (VV) to perform blanket inspection and remote maintenance tasks. This paper presents a trajectory optimization method which aims to pursue the 7-DOF articulated arm a stable movement, which keeps the mounted inspection camera anti-vibration. Based on dynamics analysis, trajectory optimization algorithm adopts multi-order polynomial interpolation in joint space and high order geometry Jacobian transform. The object of optimization algorithm is to suppress end-effector movement vibration by minimizing jerk RMS (root mean square) value. The proposed solution has such characteristics which can satisfy kinematic constraints of EAMA's motion and ensure the arm running under the absolute values of velocity, acceleration and jerk boundaries. GA (genetic algorithm) is employed to find global and robust solution for this problem. (C) 2016 Elsevier B.V. All rights reserved. |
| WOS关键词 | ROBOT MANIPULATORS ; SMOOTH |
| WOS研究方向 | Nuclear Science & Technology |
| 语种 | 英语 |
| WOS记录号 | WOS:000382421900122 |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/30824]  |
| 专题 | 合肥物质科学研究院_中科院等离子体物理研究所 |
| 作者单位 | 1.Chinese Acad Sci, Inst Plasma Phys, 350 Shushanhu Rd, Hefei, Anhui, Peoples R China 2.Lappeenranta Univ Technol, Skinnarilankatu 34, Lappeenranta, Finland |
| 推荐引用方式 GB/T 7714 | Wu, Jing,Wu, Huapeng,Song, Yuntao,et al. Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm[J]. FUSION ENGINEERING AND DESIGN,2016,109(无):700-706. |
| APA | Wu, Jing,Wu, Huapeng,Song, Yuntao,Cheng, Yong,Zhao, Wenglong,&Wang, Yongbo.(2016).Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm.FUSION ENGINEERING AND DESIGN,109(无),700-706. |
| MLA | Wu, Jing,et al."Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm".FUSION ENGINEERING AND DESIGN 109.无(2016):700-706. |
入库方式： OAI收割
来源：合肥物质科学研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。