| 引用本文: | 罗 熊,樊晓平.两种求解机械手最短时间动作路径规划的新算法及其在基于PVR技术的控制平台上的实现(英文)[J].控制理论与应用,2003,20(5):700~706.[点击复制] |
| LUO Xiong,FAN Xiao-ping.Two new algorithms for minimum time motion path planning of robot manipulators and their implementations on PVR-based control platform[J].Control Theory and Technology,2003,20(5):700~706.[点击复制] |
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| 两种求解机械手最短时间动作路径规划的新算法及其在基于PVR技术的控制平台上的实现(英文) |
| Two new algorithms for minimum time motion path planning of robot manipulators and their implementations on PVR-based control platform |
| 摘要点击 1327 全文点击 1235 投稿时间：2002-12-16 修订日期：2003-06-10 |
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| DOI编号 10.7641/j.issn.1000-8152.2003.5.010 |
| 2003,20(5):700-706 |
| 中文关键词 最短时间动作路径规划 进化计算 模拟退火 弹性网络方法 简单遗传算法 投射式虚拟现实 |
| 英文关键词 minimum time motion path planning evolution computation simulated annealing elastic net method simple genetic algorithm projective virtual reality |
| 基金项目 |
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| 中文摘要 |
| 针对机械手在执行点到点的工作任务中所遇到的两类最短时间动作路径规划(MTMPP)问题, 分别提出了新的混合型进化计算模拟退火(EC SA)算法以及将EC SA算法与一些优化技术结合使用的EC SA-DP算法. 通过与目前较好的求解算法(如弹性网络方法ENM)以及其它一些近似优化算法(如遗传算法和模拟退火算法等)所进行的数值仿真比较, 验证了EC SA算法在处理复杂工作任务时的高效性. 这些算法在基于投射式虚拟现实(PVR)技术的控制平台上进行了虚拟仿真实现, 仿真结果表明可有效地提高虚拟环境中的投射式操作 |
| 英文摘要 |
| To deal with the minimum time motion path planning (MTMPP) of robot manipulators to execute point-to-point work task, a novel hybrid evolutionary computation simulated annealing algorithm EC* SA and an algorithm EC* SA--DP combining EC*SA and some special optimization techniques were presented. The advantages of novel optimal algorithm were demonstrated through a comparison with existing preferable elastic net method (ENM) and some other optimal algorithms such as simple genetic algorithm (SGA) and simulated annealing (SA) algorithm. In addition, virtual simulation experiments were carried out on the control platform based on projective virtual reality (PVR) technology. The virtual experimental results show that the precision of projective operability is greatly enhanced in the virtual environment. |