Robot inverse acceleration solution based on hybrid genetic algorithm

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	Robot inverse acceleration solution based on hybrid genetic algorithm
	Zhang, Yong-Gui 1,2; Huang, Yu-Mei 2; Xie, Li-Ming 3
	2008
关键词	robot inverse acceleration solution velocity recursion acceleration recursion hybrid genetic algorithm
页码	2099-+
英文摘要	As the complexity of Jacobian matrix and the second order influence coefficient matrix of a robot, and the difficulty of calculating inverse Jacobian matrix, the problem of solving inverse acceleration is more difficult for a robot with degrees-of-freedom (DOFs) less than 6. Aimed at this problem, an approach for solving the robot inverse acceleration problem has been proposed in this paper, In which the hybrid genetic algorithm (HGA) and robot link's velocity and acceleration recursive formulas are employed to avoid calculation of inverse Jacobian matrix and the second order influence coefficient matrix. It is proved to be viable by practical computation of a 5-DOF robot inverse acceleration.
会议录	PROCEEDINGS OF 2008 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
WOS研究方向	Computer Science ; Engineering ; Robotics
WOS记录号	WOS:000259604901053
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/38056]
专题	机电工程学院
通讯作者	Zhang, Yong-Gui
作者单位	1.Lanzhou Univ Technol, Minist Educ, Key Lab Digital Mfg Technol & Applicat, Lanzhou 730050, Peoples R China 2.Xian Univ Technol, Xian 710048, Peoples R China 3.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Yong-Gui,Huang, Yu-Mei,Xie, Li-Ming. Robot inverse acceleration solution based on hybrid genetic algorithm[C]. 见:.