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基于遗传算法的欠驱动机器人运动规划 被引量：3

Motion Planning of Underactuated Robots Using GA Method
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摘要 研究了平面欠驱动机器人的非完整运动规划问题,建立欠驱动机器人系统动力学模型,提出了一种利用遗传算法(GA)解决欠驱动机器人运动规划的方法。引入部分稳定控制器的思想,提出基于能量最优的评价函数,利用遗传算法对评价函数进行离线优化,得到有关部分稳定控制器的切换规则。此方法可以推广到任意平面欠驱动机器人的规划问题上,以平面3R欠驱动机器人为研究对象进行了数值仿真,仿真结果验证了该方法的有效性。 The nonbolonomic motion planning problem of underactuated planar robots is discussed. The dynamic model of the underactuated robot system is built. A method for motion planning of underactuated robots based on the genetic algorithm is proposed, The thoughts of partly stable controllers is introduced, and the energy based on cost function is optimized by GA method off-line, The switching rule of partly stable controllers are carried out. This method can be extended to the arbitrary motion planning problem of underactuated planar robots. The numerical simulation on the underactuated 3R planar robot shows the validity of the proposed method.
作者 刘庆波 余跃庆 王浩
机构地区 北京工业大学机电学院
出处 《控制工程》 CSCD 2008年第1期64-67,共4页 Control Engineering of China
基金 国家自然科学基金资助项目(50575002 60705036) 北京市基金资助项目(3062004) 北京市教委人才强教计划拔尖人才基金资助项目(PHR(IHLB)) 北京市教委科技发展计划基金资助项目(KM200610005003)
关键词 运动规划 欠驱动 非完整系统 遗传算法 motion planning underactuated nonholonomic systems genetic algorithm
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献7

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二级参考文献5

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共引文献14

同被引文献17

  • 1Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing Wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,P.R.China2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany3.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,P.R.China4.College of Automation,Harbin Engineering University,Harbin 150001,P.R.China.An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals[J].Journal of Bionic Engineering,2009,6(3):255-263. 被引量：17
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控制工程
2008年 第1期

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