Inverse kinematics and planning/control co-design method of redundant manipulator for precision operation: Design and experiments
Robotics and Computer-Integrated Manufacturing(2023)
摘要
•A novel adaptive transfer particle swarm optimization algorithm is proposed based on the velocity. Directional manipulability measure (VDMAT-PSO), providing the solution for inverse kinematics of the 7-DoF redundant manipulators.•A novel planning/control co-design algorithm is proposed based on the Dynamic Movement Primitives (DMPs-PCC) to ensure that the motion planner and actuator of the 7-DoF redundant manipulator can work synchronously, while optimizing the velocity and acceleration profiles of each joint of the manipulator in the operating process.
更多查看译文
关键词
Redundant manipulator,Adaptive particle swarm optimization algorithm,Velocity directional manipulability,Planning/control co-design,Dynamic movement primitives
AI 理解论文
溯源树
样例
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要