典型文献
Time Optimal Trajectory Planning Algorithm for Robotic Manipulator Based on Locally Chaotic Particle Swarm Optimization
文献摘要：
Optimal trajectory planning is a funda-mental problem in the area of robotic research.On the time-optimal trajectory planning problem during the mo-tion of a robotic arm,the method based on segmented polynomial interpolation function with a locally chaotic particle swarm optimization(LCPSO)algorithm is pro-posed in this paper.While completing the convergence in the early or middle part of the search,the algorithm steps forward on the problem of local convergence of tradition-al particle swarm optimization(PSO)and improved learning factor PSO(IFPSO)algorithms.Finally,simula-tion experiments are executed in joint space to obtain the optimal time and smooth motion trajectory of each joint,which shows that the method can effectively shorten the running time of the robotic manipulator and ensure the stability of the motion as well.
文献关键词：
中图分类号：
作者姓名：
DU Yuxiao;CHEN Yihang
作者机构：
School of Automation,Guangdong University of Technology,Guangzhou 510006,China
文献出处：
引用格式：
[1]DU Yuxiao;CHEN Yihang-.Time Optimal Trajectory Planning Algorithm for Robotic Manipulator Based on Locally Chaotic Particle Swarm Optimization)[J].电子学报（英文）,2022(05):906-914
A类：
LCPSO,IFPSO
B类：
Time,Optimal,Trajectory,Planning,Algorithm,Robotic,Manipulator,Based,Locally,Chaotic,Particle,Swarm,Optimization,trajectory,planning,funda,mental,problem,area,robotic,research,On,optimal,during,method,segmented,polynomial,interpolation,function,locally,chaotic,particle,swarm,optimization,posed,this,paper,While,completing,convergence,early,middle,steps,forward,tradition,improved,learning,algorithms,Finally,simula,experiments,executed,joint,space,obtain,smooth,motion,each,which,shows,that,can,effectively,shorten,running,manipulator,ensure,stability,well
AB值：
0.573527
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