Application of Optimal Algorithm on Trajectory Planning of Mechanical Arm Based on B-Spline Curve-Reference-Cited by-同舟云学术

Application of Optimal Algorithm on Trajectory Planning of Mechanical Arm Based on B-Spline Curve

Published:2013-08 Issue: Volume:376 Page:253-256
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Guo Tong Ying¹,Li Feng¹,Huang Kuan¹,Zhang Feng Zhong¹,Feng Qun¹

Affiliation:

1. Shenyang Jianzhu university

Abstract

In order to improve the efficiency and practicality of trajectory planning of the mechanical arm, making the trajectory smooth and continuous, the method of B-spline curve of trajectory planning is adopted. Considering the three contraint conditions: the speed, the acceleration and the change rate of acceleration, the time interval of each curve is optimized using PSO (particle swarm optimization) algorithm. Simulation results show the PSO algorithm can reduce the time interval of each curve. This means that this method can effectively improve the operating efficiency of the mechanical arm.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.376.253.pdf

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