TY - GEN
T1 - Smooth and multi-objective optimal motion planning for delta robot
AU - Zhao, Yalan
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/14
Y1 - 2016/12/14
N2 - This paper presents a method for smooth and optimal motion planning of delta parallel robot. The motion is smooth by using the fifth-order B-spline, the robot's kinematic, dynamic, and geometric constraints can be formulated in terms of B-spline parameters as well. In addition, the motion time, energy consumed and maximum jerk of delta end-effector are taken as objective functions in this paper. Therefore, the optimal motion planning is formulated as an optimization problem with nonlinear constraints, which can be solved by the non-dominated sorting genetic algorithm-II (NSGA-II).
AB - This paper presents a method for smooth and optimal motion planning of delta parallel robot. The motion is smooth by using the fifth-order B-spline, the robot's kinematic, dynamic, and geometric constraints can be formulated in terms of B-spline parameters as well. In addition, the motion time, energy consumed and maximum jerk of delta end-effector are taken as objective functions in this paper. Therefore, the optimal motion planning is formulated as an optimization problem with nonlinear constraints, which can be solved by the non-dominated sorting genetic algorithm-II (NSGA-II).
UR - https://www.scopus.com/pages/publications/85010023360
U2 - 10.1109/RCAR.2016.7784023
DO - 10.1109/RCAR.2016.7784023
M3 - 会议稿件
AN - SCOPUS:85010023360
T3 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
SP - 186
EP - 191
BT - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Y2 - 6 June 2016 through 9 June 2016
ER -