The Robotic Impedance Controller Multi-objective Optimization Design Based on Pareto Optimality

doi:10.1007/978-3-319-42297-8_39

	The Robotic Impedance Controller Multi-objective Optimization Design Based on Pareto Optimality
	Li, Erchao
	2016
关键词	Impendence control Multi-objective optimization Pareto optimal solution
卷号	9773
DOI	10.1007/978-3-319-42297-8_39
页码	413-423
英文摘要	The robotic impedance control is currently one of the main control methods, its main characteristic is that it can make manipulators move to the appointed position quickly and accurately. Due to the high complexity of the robot system, to adjust the impedance controller parameter is always difficult. The impedance controller multi-objective optimization design method is proposed, taking dynamic performances as the optimization objectives, a multi-objective optimization algorithm based on Pareto optimality is applied to the optimal design, obtain Pareto optimal solutions, and get some initial impedance controller adjustment rules, the satisfactory solution is selected in Pareto-optimal solutions according to the requirements of the present system. Simulation results indicate the effectiveness of the proposed algorithm.
会议录	INTELLIGENT COMPUTING METHODOLOGIES, ICIC 2016, PT III
会议录出版者	SPRINGER INTERNATIONAL PUBLISHING AG
会议录出版地	GEWERBESTRASSE 11, CHAM, CH-6330, SWITZERLAND
语种	英语
WOS研究方向	Computer Science
WOS记录号	WOS:000387430500039
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/36370]
专题	电气工程与信息工程学院
通讯作者	Li, Erchao
作者单位	Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
推荐引用方式 GB/T 7714	Li, Erchao. The Robotic Impedance Controller Multi-objective Optimization Design Based on Pareto Optimality[C]. 见:.