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Research on Trajectory Planning of Manipulator Based on GA - APF Algorithm
Yang ML(杨梦龙); Jiang Y(姜勇); Sun, Jingen
作者部门空间自动化技术研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码210-215
收录类别EI ; CPCI(ISTP)
EI收录号20183905873450
WOS记录号WOS:000447628700040
产权排序1
ISBN号978-1-5386-0489-2
关键词Manipulator Trajectory Planning Genetic Algorithm Artificial Potential Field Method
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.

语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21318
专题空间自动化技术研究室
通讯作者Yang ML(杨梦龙)
作者单位1.School of automation and electrical engineering, Shenyang Ligong University, Shenyang, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Yang ML,Jiang Y,Sun, Jingen. Research on Trajectory Planning of Manipulator Based on GA - APF Algorithm[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:210-215.
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