A hybrid CHAOS-PSO algorithm for dimensional synthesis of a redundant manipulator based on tracking trajectories without or with singularities

A hybrid CHAOS-PSO algorithm for dimensional synthesis of a redundant manipulator based on... The paper presents a novel hybrid CHAOS-PSO algorithm for dimensional syntheses of redundant manipulators while not following common design principles of arm length or arm length ratio of a human in previous literatures. More specifically, we employ the clamping weighted least-norm (CWLN) method to solve inverse kinematics of the redundant manipulator tracking desired nonsingular or singular trajectories considering joint limits. Thus, an optimal solution of flexible D-H parameters of manipulator is explored in the search space based on evaluations by the defined fitness functions with the proposed algorithm. As an optimization tool in this work, the hybrid CHAOS-PSO algorithm incorporates chaos into the particle swarm optimization (PSO) algorithm as population initialization and global perturbation technique in order to enhance swarm diversity and escape from premature convergence. To demonstrate validity and practicability of the proposed algorithm compared to PSO, simulations of dimensional syntheses of a 7-degree-of-freedom (7-DOF) redundant manipulator with complex structures along the planed nonsingular or singular trajectories are performed. Keywords Dimensional synthesis · CHAOS-PSO · Premature convergence · Redundant manipulator · Nonsingular or singular trajectories 1 Introduction in the current applications are mostly based on SRS struc- ture. Meanwhile, most of them are modeled following With continuous improvement of industrial automation, the http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Production Engineering Springer Journals

A hybrid CHAOS-PSO algorithm for dimensional synthesis of a redundant manipulator based on tracking trajectories without or with singularities

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Publisher
Springer Berlin Heidelberg
Copyright
Copyright © 2018 by German Academic Society for Production Engineering (WGP)
Subject
Engineering; Industrial and Production Engineering; Production
ISSN
0944-6524
eISSN
1863-7353
D.O.I.
10.1007/s11740-018-0837-9
Publisher site
See Article on Publisher Site

Abstract

The paper presents a novel hybrid CHAOS-PSO algorithm for dimensional syntheses of redundant manipulators while not following common design principles of arm length or arm length ratio of a human in previous literatures. More specifically, we employ the clamping weighted least-norm (CWLN) method to solve inverse kinematics of the redundant manipulator tracking desired nonsingular or singular trajectories considering joint limits. Thus, an optimal solution of flexible D-H parameters of manipulator is explored in the search space based on evaluations by the defined fitness functions with the proposed algorithm. As an optimization tool in this work, the hybrid CHAOS-PSO algorithm incorporates chaos into the particle swarm optimization (PSO) algorithm as population initialization and global perturbation technique in order to enhance swarm diversity and escape from premature convergence. To demonstrate validity and practicability of the proposed algorithm compared to PSO, simulations of dimensional syntheses of a 7-degree-of-freedom (7-DOF) redundant manipulator with complex structures along the planed nonsingular or singular trajectories are performed. Keywords Dimensional synthesis · CHAOS-PSO · Premature convergence · Redundant manipulator · Nonsingular or singular trajectories 1 Introduction in the current applications are mostly based on SRS struc- ture. Meanwhile, most of them are modeled following With continuous improvement of industrial automation, the

Journal

Production EngineeringSpringer Journals

Published: Jun 4, 2018

References

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