Time-impact optimal trajectory planning of vehicle-mounted cleaning mobile manipulator

doi:10.19912/j.0254-0096.tynxb.2020-0842

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	Time-impact optimal trajectory planning of vehicle-mounted cleaning mobile manipulator
	C., Li; K., Chen; N., Wang; J., Gong
刊名	Taiyangneng Xuebao/Acta Energiae Solaris Sinica
	2022-04-28
卷号	43 期号:4 页码:283-287
关键词	Cleaning Interpolation Manipulators Multiobjective optimization Particle swarm optimization (PSO) Robot programming Solar heating Thermoelectric power plants Wear of materials Heliostat cleaning Joint space Mobile manipulator Multi-objectives optimization Optimal trajectory planning Particle swarm optimization Solar thermal power Thermal power stations Tower solar thermal power station Working efficiency
ISSN号	0254-0096
DOI	10.19912/j.0254-0096.tynxb.2020-0842
英文摘要	Taking the vehicle-mounted cleaning mobile manipulator for cleaning the surface of the heliostat in the tower solar thermal power station as the research object, considering the cleaning efficiency of the manipulator and the vibration and wear problems during the movement, a time-impact optimal trajectory planning method of the manipulator is proposed, which optimizes its time and impact to improve the working efficiency of the manipulator and extend its service life. Using the position-time sequence of the joint space, an interpolation curve is constructed in the joint space using the quintic B-spline function. The angular velocity, angular acceleration and angular jerk of the manipulator joints are used as constraints, and the improved multi-objective particle swarm optimization (MO-PSO)algorithm is used to solve the objective function. And finally the multi-objective optimization is transformed into a single objective optimization by constructing a normalized weighted objective function to obtain the optimal solution. Simulation analysis shows that this method can improve the working efficiency of the manipulator and reduce wear and vibration. © 2022, Solar Energy Periodical Office Co., Ltd. All right reserved.
语种	中文
出版者	Science Press
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/158473]
专题	兰州理工大学
作者单位	College of Mechanic and Electronic Engineering, Lanzhou University of Technology, Lanzhou; 730050, China
推荐引用方式 GB/T 7714	C., Li,K., Chen,N., Wang,et al. Time-impact optimal trajectory planning of vehicle-mounted cleaning mobile manipulator[J]. Taiyangneng Xuebao/Acta Energiae Solaris Sinica,2022,43(4):283-287.
APA	C., Li,K., Chen,N., Wang,&J., Gong.(2022).Time-impact optimal trajectory planning of vehicle-mounted cleaning mobile manipulator.Taiyangneng Xuebao/Acta Energiae Solaris Sinica,43(4),283-287.
MLA	C., Li,et al."Time-impact optimal trajectory planning of vehicle-mounted cleaning mobile manipulator".Taiyangneng Xuebao/Acta Energiae Solaris Sinica 43.4(2022):283-287.