计算机应用研究2011，Vol.28Issue(2)：448-450,3.DOI:10.3969/j.issn.1001-3695.2011.02.010
基于粒子群算法的冗余机械手可操作性寻优
Research of manipulability optimization of redundant manipulator based on PSO
汪秀 1郭西进 1张彤晓1
作者信息
- 1. 中国矿业大学信息与电气工程学院,江苏,徐州,221116
- 折叠
摘要
Abstract
Contrary to the uncertain configuration of redundant manipulator corresponding to the target position, this paper presented whole manipulability index SM as the second index to determine the configuration of redundant manipulator on manipulability and then gave a way of optimizing SM. Combine with PSO, selected points on the circumstance, whose center was the related joint coordinate and the radius was the length of the link, as the particles of algorithm to iterate. The results of simulation confirm the effectiveness of the proposed method and the superiority of SM as the second index.关键词
冗余机械手/可操作性/整体可操作性指标SM/PSO分类
信息技术与安全科学引用本文复制引用
汪秀,郭西进,张彤晓..基于粒子群算法的冗余机械手可操作性寻优[J].计算机应用研究,2011,28(2):448-450,3.
