Optimal Trajectory Planning for Robotic Manipulators Using Chicken Swarm Optimization

被引：22
|
作者：
Mu, Yu [1 ]
Zhang, Lijuan [1 ]
Chen, Xingran [1 ]
Gao, Xueshan [1 ]
机构：
[1] Beijing Inst Technol, Sch Mechatron, Beiijng, Peoples R China
来源：
2016 8TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC), VOL. 2 | 2016年
关键词：
trajectory planning; CSO; manipulator; B-spline;
D O I：
10.1109/IHMSC.2016.107
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The optimal trajectory planning is one fundamental problem in the area of robotic research. In this paper, chicken swarm optimization (CSO), a new bio-inspired algorithm, is applied to optimize the trajectory for the robotic manipulators. The trajectory is constructed by three-order B-spline curves and complies with the kinematical constraints. The algorithm adopts minimum travelling time as the objective function in order to obtain the optimal trajectory. The experiments are executed with a 6-DOF robotic manipulator that is applied to surface polishing of metallic workpiece. The experimental results verify the effectiveness of the method.
引用
收藏
页码：369 / 373
页数：5
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