摘要
针对冗余机械手应用遗传算法 (或免疫遗传算法 )的轨迹规划所存在的不足 ,提出了基于微粒群优化算法的冗余机械手轨迹规划方法。利用此算法对寻优过程进行仿真研究 ,所得结果令人满意 ,与遗传算法相比 ,微粒群算法简单、容易 ,且收敛速度快。此方法能够有效地进行机械手轨迹规划 。
Aimed at the deficiency existed in trajectory planning of redundant manipulator by applying genetic algorithm (or immune genetic algorithm), the trajectory planning method for redundant manipulator based on particle swarm optimal algorithm has been put forward. By the use of this method to carry out the simulation research on the process of optimization seeking, the result thus obtained is satisfactory. When compared with the genetic algorithm, the particle swarm algorithm is simple, easy and possessing a quick convergence speed. The method of this paper could effectively carry out the trajectory planning of manipulator; therefore it could bring the effect of redundancy into full play so as to provide new train of thought for improving the movement of manipulator.
出处
《机械设计》
CSCD
北大核心
2004年第7期20-22,共3页
Journal of Machine Design
基金
浙江省自然科学基金资助项目 (M60 30 70 )
