Simultaneous path placement and trajectory planning optimization for a redundant coordinated robotic workcell

被引：20
|
作者：
FarzanehKaloorazi, MohammadHadi [1 ]
Bonev, Ilian A. [1 ]
Birglen, Lionel [2 ]
机构：
[1] Ecole Technol Super, 1100 Rue Notre Dame Ouest, Montreal, PQ H2X 2E7, Canada
[2] Ecole Polytech Montreal, 2900 Blvd Edouard Montpetit, Montreal, PQ H3T 1J4, Canada
来源：
MECHANISM AND MACHINE THEORY | 2018年 / 130卷
关键词：
Path placement; Redundancy resolution; Robot-robot coordination; PSO; Kinematics; Serial manipulator; PARALLEL MANIPULATOR; INVERSE KINEMATICS; FIBER PLACEMENT; 3-DOF; WORKSPACE; MECHANISMS; ALGORITHM; DESIGN; SERIAL; FORCE;
D O I：
10.1016/j.mechmachtheory.2018.08.022
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
An optimization method using Particle Swarm Optimization (PSO) is introduced in order to simultaneously optimize the trajectory planning and placement of a given path in a redundant coordinated robotic workcell. The workcell consists of a 6 Degree Of Freedom (DOF) serial manipulator, a 6 DOF parallel manipulator and a rotary table mounted on the parallel manipulator. Since the workcell has 13 DOF, one has to solve the kinematic redundancy of the workcell. The solution will be obtained considering the singularities of the serial manipulator and the workspace boundaries of all manipulators. The algorithm to obtain the optimum path placement is explained through a simple example and the result for a helix path around the workpiece is represented. (C) 2018 Elsevier Ltd. All rights reserved.
引用
收藏
页码：346 / 362
页数：17
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