Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-10
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
The large-scale boom system, such as the five-arm concrete pump truck with the arm length of 36–65 meters, usually operates in an unknown dynamic outdoor environment.
The motion safety and the energy consumption are thus the two vital measurements to the effectiveness of the trajectory planning for the large-scale boom system.
Due to the redundancy of the large-scale boom system and some drawbacks of the original particle swarm optimization (PSO) algorithm, an improved PSO algorithm is presented to solve the inverse kinematic problem of the redundant large-scale boom system.
By the improved PSO algorithm, the energy-saving trajectory planning of the large-scale boom system that operates in a workspace without obstacles and with obstacles is optimized, which considers different important degrees of the subgoals, respectively.
The optimal results from the simulation study and the practical application verify the effectiveness of the proposed planning strategy.
At the same time, the performance of the improved strategy is compared with that of the traditional, and the superiority is further demonstrated.
American Psychological Association (APA)
Jin, Min& Wu, Dan. 2013. Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-1031742
Modern Language Association (MLA)
Jin, Min& Wu, Dan. Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO. Mathematical Problems in Engineering No. 2013 (2013), pp.1-8.
https://search.emarefa.net/detail/BIM-1031742
American Medical Association (AMA)
Jin, Min& Wu, Dan. Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-1031742
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1031742