MTTP for robot manipulators based on intensified evolutionary programming and its application in PVR environment

被引：0
|
作者：
Luo, X [1 ]
Fan, XP [1 ]
Chen, SQ [1 ]
Yi, S [1 ]
机构：
[1] Cent S Univ, Coll Informat Sci & Engn, Changsha 410083, Peoples R China
来源：
PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4 | 2002年
关键词：
minimum time trajectory planning and control; (MTTPC); minimum time trajectory planning (MTTP); evolutionary programming (EP); projective virtual reality (PVR); robot manipulator;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The minimum time trajectory planning (MTTP) of robot manipulator plays an important role in the field of robotics. However, it is very difficult to reach the optimal goal due to the nonlinearitics in the mathematic model and the strong couplings in robot dynamics. Based on the intensified evolutional programming kinematic approach, the trajectory planning optimization is carried out with numerical analysis and computations. Meanwhile, a kind of graphic simulation software is developed by using the new optimal algorithm based on projective virtual reality (PVR) technology. The graphic simulation and experimental results show that the intuitive operability, control, and supervision can be realized effectively in the virtual world, and the precision of projective operability is greatly enhanced.
引用
收藏
页码：26 / 31
页数：6
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