Trajectory planning for a manipulator with nonlinear Coulomb friction using a dynamically incremental genetic algorithm

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• 作者：Yoshio Yokose
• 关键词：Manipulator ; Genetic algorithm ; Evolution strategy ; Consumption energy
• 刊名：Artificial Life and Robotics
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：22
• 期：1
• 页码：31-35
• 全文大小：
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence (incl. Robotics); Computation by Abstract Devices; Control, Robotics, Mechatronics;
• 出版者：Springer Japan
• ISSN：1614-7456
• 卷排序：22

文摘

Global warming and environmental destruction are caused in part by the mass consumption of energy by industries that use robotic manipulators. Hence, there is a need to minimize the energy used for manipulator control systems. It is relatively easy to analytically obtain an optimal solution for a linear system. However, a multi-link manipulator is governed by a nonlinear dynamical equation that is difficult to solve as a two-point boundary value problem. Here, the manipulator angles are approximated by Taylor and Fourier series, whose coefficients are sought by a genetic algorithm (GA) to optimize the objective function subject to the boundary conditions. A search method is proposed for planning the trajectory of a manipulator with nonlinear friction and geometrical constraints.