控制理论与应用2003，Vol.20Issue(5)：700-706,7.
两种求解机械手最短时间动作路径规划的新算法及其在基于PVR技术的控制平台上的实现
Two new algorithms for minimum time motion path planning of robot manipulators and their implementations on PVR-based control platform
摘要
Abstract
To deal with the minimum time motion path planning (MTMPP) of robot manipulators to execute point-to-point work task, a novel hybrid evolutionary computation simulated annealing algorithm EC * SA and an algorithm EC * SA_ DPcombining EC * SA and some special optimization techniques were presented. The advantages of novel optimal algorithm weredemonstrated through a comparison with existing preferable elastic net method (ENM) and some other optimal algorithms suchas simple genetic algorithm (SGA) and simulated annealing (SA) algorithm. In addition, virtual simulation experiments werecarried out on the control platform based on projective virtual reality (PVR) technology. The virtual experimental results showthat the precision of projective operability is greatly enhanced in the virtual environment.关键词
最短时间动作路径规划/进化计算/模拟退火/弹性网络方法/简单遗传算法/投射式虚拟现实Key words
minimum time motion path planning/evolution computation/simulated annealing/elastic net method/sim-ple genetic algorithm/projective virtual reality分类
信息技术与安全科学引用本文复制引用
罗熊,樊晓平..两种求解机械手最短时间动作路径规划的新算法及其在基于PVR技术的控制平台上的实现[J].控制理论与应用,2003,20(5):700-706,7.基金项目
supported:the National Natural Science Foundation of China(69975003) （69975003）
the Foundation for University Key Teachers by the Ministry of Education of China([2002]65) （[2002]65）
