A Method for Optimizing the Base Position of Mobile Painting Manipulators
文献类型：期刊论文
| 作者 | Ren SN(任书楠) ; Ren, Shunan
|
| 刊名 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
 |
| 出版日期 | 2017 |
| 卷号 | 14期号:1页码:370-375 |
| 关键词 | Base Position Mobile Manipulator Offline Planning Optimization Method Spray Painting |
| 英文摘要 | This paper presents an algorithm to optimize the base position of a mobile manipulator to meet the equirements of local painting tasks. Considering the physical limits and singularity of the manipulator, the feasible base positions are first discretely calculated with the given poses of the end effector by inverse kinematics. Then, the joint-level performance criteria are proposed with respect to the requirements of the painting process. The weight coefficients are also determined by the critic method to balance the contribution of every criterion. Thus, the globally near-optimal base position is selected by sorting all feasible positions according to the evaluation criteria. The experimental results show that the planning result is well executed and has an acceptable computation time, thus demonstrating that the algorithm is both practical and effective compared with previous methods. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/19551]  |
| 专题 | 自动化研究所_类脑智能研究中心 |
| 通讯作者 | Ren, Shunan |
| 作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Ren SN,Ren, Shunan. A Method for Optimizing the Base Position of Mobile Painting Manipulators[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2017,14(1):370-375. |
| APA | Ren SN,&Ren, Shunan.(2017).A Method for Optimizing the Base Position of Mobile Painting Manipulators.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,14(1),370-375. |
| MLA | Ren SN,et al."A Method for Optimizing the Base Position of Mobile Painting Manipulators".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 14.1(2017):370-375. |
入库方式： OAI收割
来源：自动化研究所
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