The Robotic Impedance Controller Multi-objective Optimization Design Based on Pareto Optimality

被引：7
|
作者：
Li, Erchao [1 ]
机构：
[1] Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
来源：
INTELLIGENT COMPUTING METHODOLOGIES, ICIC 2016, PT III | 2016年 / 9773卷
关键词：
Impendence control; Multi-objective optimization; Pareto optimal solution;
D O I：
10.1007/978-3-319-42297-8_39
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The robotic impedance control is currently one of the main control methods, its main characteristic is that it can make manipulators move to the appointed position quickly and accurately. Due to the high complexity of the robot system, to adjust the impedance controller parameter is always difficult. The impedance controller multi-objective optimization design method is proposed, taking dynamic performances as the optimization objectives, a multi-objective optimization algorithm based on Pareto optimality is applied to the optimal design, obtain Pareto optimal solutions, and get some initial impedance controller adjustment rules, the satisfactory solution is selected in Pareto-optimal solutions according to the requirements of the present system. Simulation results indicate the effectiveness of the proposed algorithm.
引用
收藏
页码：413 / 423
页数：11
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