TY - GEN
T1 - An Obstacle Avoidance Control Strategy for DELTA Parallel Manipulator via Improved Genetic Algorithm
AU - Zheng, Hao
AU - Xu, Yihang
AU - Li, Yuantao
AU - Ran, Guangtao
AU - Liu, Jian
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Aiming at the requirement of the DELTA parallel manipulator for performing grasping operations, a method for obstacle avoidance based on a genetic algorithm is proposed. Firstly, the classical DELTA parallel manipulator is analyzed mathematically, and its model is simplified. Then, the motion space and inverse kinematics solutions of the DELTA parallel manipulator are solved by using the spatial geometry method. Secondly, a cylindrical envelope surface is added to the manipulator's end for distance calculation. This envelope surface ensures that obstacles do not collide with the manipulator during obstacle avoidance. Thirdly, an improved genetic algorithm is proposed for obstacle avoidance. Finally, the simulation results are given to verify the effectiveness and reliability of the proposed algorithm.
AB - Aiming at the requirement of the DELTA parallel manipulator for performing grasping operations, a method for obstacle avoidance based on a genetic algorithm is proposed. Firstly, the classical DELTA parallel manipulator is analyzed mathematically, and its model is simplified. Then, the motion space and inverse kinematics solutions of the DELTA parallel manipulator are solved by using the spatial geometry method. Secondly, a cylindrical envelope surface is added to the manipulator's end for distance calculation. This envelope surface ensures that obstacles do not collide with the manipulator during obstacle avoidance. Thirdly, an improved genetic algorithm is proposed for obstacle avoidance. Finally, the simulation results are given to verify the effectiveness and reliability of the proposed algorithm.
KW - DELTA parallel manipulator
KW - Genetic algorithm
KW - Inverse kinematics solution
UR - https://www.scopus.com/pages/publications/85147916564
U2 - 10.1109/YAC57282.2022.10023839
DO - 10.1109/YAC57282.2022.10023839
M3 - 会议稿件
AN - SCOPUS:85147916564
T3 - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
SP - 1342
EP - 1346
BT - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
Y2 - 19 November 2022 through 20 November 2022
ER -