Smooth and Multi-Objective Optimal Motion Planning for Delta Robot

被引：0
|
作者：
Zhao, Yalan [1 ]
Lou, Yunjiang [1 ]
机构：
[1] Harbin Inst Technol, Shenzhen Grad Sch, Sch Mechatron Engn & Automat, Shenzhen, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR) | 2016年
关键词：
MANIPULATORS;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents a method for smooth and optimal motion planning of delta parallel robot. The motion is smooth by using the fifth-order B-spline, the robot's kinematic, dynamic, and geometric constraints can be formulated in terms of B-spline parameters as well. In addition, the motion time, energy consumed and maximum jerk of delta end-effector are taken as objective functions in this paper. Therefore, the optimal motion planning is formulated as an optimization problem with nonlinear constraints, which can be solved by the non dominated sorting genetic algorithm-H (NSGA-H).
引用
收藏
页码：186 / 191
页数：6
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