Research on Trajectory Planning of Manipulator Based on GA - APF Algorithm
文献类型：会议论文
| 作者 | Jiang Y(姜勇) ; Sun, Jingen; Yang ML(杨梦龙)
|
| 出版日期 | 2017 |
| 会议名称 | 7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017) |
| 会议日期 | July 31 - August 4, 2017 |
| 会议地点 | Hawaii, USA |
| 关键词 | manipulator trajectory planning genetic algorithm artificial potential field method |
| 页码 | 210-215 |
| 通讯作者 | Yang ML(杨梦龙) |
| 中文摘要 | A novel approach of trajectory optimization in the field of trajectory planning of a six-DOF manipulator is presented. In this paper, the kinematic model of the manipulator is easily established by using classical D-H parameter method, and the kinematics results of the manipulator are validated with MATLAB. Then Monte Carlo method is used to obtain the workspace of manipulator. This optimization method of trajectory planning, whose principle is that applying genetic algorithm (GA) to a modified artificial potential field (APF) method, is to address the optimal path searching problem in field of obstacle avoidance trajectory planning of manipulator. A set of optimized parameters are obtained by genetic algorithm, and are used to conduct a simulation, which shows a better trajectory compared with other method. Finally, the experiment is conducted by using UR10 robot. Both the simulation and experimental results show the validity and the effectiveness of GA-APF algorithm. |
| 产权排序 | 1 |
| 会议录 | 7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-0489-2 |
| 源URL | [http://ir.sia.cn/handle/173321/21318]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.Shenyang Institution of Automation Chinese Academy of Sciences, Shenyang, China 2.School of automation and electrical engineering, Shenyang Ligong University, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Jiang Y,Sun, Jingen,Yang ML. Research on Trajectory Planning of Manipulator Based on GA - APF Algorithm[C]. 见:7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017). Hawaii, USA. July 31 - August 4, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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