Research on Trajectory Planning of Manipulator Based on GA - APF Algorithm

被引：0
|
作者：
Yang, Menglong [1 ,2 ]
Jiang, Yong [2 ]
Sun, Jingen [1 ]
机构：
[1] Shenyang Ligong Univ, Sch Automat & Elect Engn, Shenyang, Liaoning, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China
来源：
2017 IEEE 7TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2017年
关键词：
manipulator; trajectory planning; genetic algorithm; artificial potential field method;
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：
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.
引用
收藏
页码：210 / 215
页数：6
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