First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter ...First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.展开更多
There has been a growing interest in mathematical models to character the evolutionary algorithms. The best-known one of such models is the axiomatic model colled the abstract evolutionary algorithm. In this paper, we...There has been a growing interest in mathematical models to character the evolutionary algorithms. The best-known one of such models is the axiomatic model colled the abstract evolutionary algorithm. In this paper, we first introduce the definitions of the abhstract selection and evolution operators, and that of the abstract evolutionary algorithm, which describes the evolution as an abstract stochastic process composed of these two fundamental abstract operators. In particular, a kind of abstract evolutionary algorithms based on a special selection mechansim is discussed. According to the sorting for the state space, the properties of the single step transition matrix for the algorithm are anaylzed. In the end, we prove that the limit probability distribution of the Markov chains exists. The present work provides a big step toward the establishment of a unified theory of evolutionary computation.展开更多
基金Supported by Beijing Municipal Natural Science Foundation Committee and the High Technology Research and Development Programme of China （No.2003AA404140）.
文摘First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.
基金Supported by the National Science Foundation of China(60133010)Supported by the Science Foundation of Henan Province(2000110019)
文摘There has been a growing interest in mathematical models to character the evolutionary algorithms. The best-known one of such models is the axiomatic model colled the abstract evolutionary algorithm. In this paper, we first introduce the definitions of the abhstract selection and evolution operators, and that of the abstract evolutionary algorithm, which describes the evolution as an abstract stochastic process composed of these two fundamental abstract operators. In particular, a kind of abstract evolutionary algorithms based on a special selection mechansim is discussed. According to the sorting for the state space, the properties of the single step transition matrix for the algorithm are anaylzed. In the end, we prove that the limit probability distribution of the Markov chains exists. The present work provides a big step toward the establishment of a unified theory of evolutionary computation.
