Method for optimizing joint angles of under-actuated mechanical arms on basis of improved particle swarm algorithms

Method for optimizing joint angles of under-actuated mechanical arms on basis of improved particle swarm algorithms

An embodiment of the invention discloses a method for optimizing joint angles of under-actuated mechanical arms on the basis of improved particle swarm algorithms. The method includes building planarthree-degrees-of-freedom passive-active-active type (PAA type) under-actuated mechanical arm kinetic...

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Hauptverfasser: REN ZEYU, LIU HUIHE, ZHAI LIN, GAO XIN
Format: Patent
Sprache:chi ; eng
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CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator REN ZEYU
LIU HUIHE
ZHAI LIN
GAO XIN
description An embodiment of the invention discloses a method for optimizing joint angles of under-actuated mechanical arms on the basis of improved particle swarm algorithms. The method includes building planarthree-degrees-of-freedom passive-active-active type (PAA type) under-actuated mechanical arm kinetic models; reducing order of each under-actuated mechanical arm kinetic model with non-holonomic constraint characteristics by the aid of back-stepping control thoughts to obtain two passive-active type (PA type) subsystems, and making relations between the joint angles and the locations of the tail ends of mechanical arms definite; utilizing difference values of the locations of the tail ends of the under-actuated mechanical arms and target locations as target functions, leading in simulated annealing Metropolis acceptance criteria and congestion degree factors of artificial fish school algorithms and solving the corresponding optimal joint angles for reaching the target locations. Accordingto the technical scheme, t
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The method includes building planarthree-degrees-of-freedom passive-active-active type (PAA type) under-actuated mechanical arm kinetic models; reducing order of each under-actuated mechanical arm kinetic model with non-holonomic constraint characteristics by the aid of back-stepping control thoughts to obtain two passive-active type (PA type) subsystems, and making relations between the joint angles and the locations of the tail ends of mechanical arms definite; utilizing difference values of the locations of the tail ends of the under-actuated mechanical arms and target locations as target functions, leading in simulated annealing Metropolis acceptance criteria and congestion degree factors of artificial fish school algorithms and solving the corresponding optimal joint angles for reaching the target locations. 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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Method for optimizing joint angles of under-actuated mechanical arms on basis of improved particle swarm algorithms
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