A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators
In planning the trajectories of motor-driven parallel platform manipulators, the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator str...
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| Veröffentlicht in: | Robotics and computer-integrated manufacturing 2011-02, Vol.27 (1), p.72-81 |
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| container_title | Robotics and computer-integrated manufacturing |
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| creator | Chen, Chun-Ta Liao, Te-Tan |
| description | In planning the trajectories of motor-driven parallel platform manipulators, the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the possible trajectories of the manipulator are modeled using a parametric path representation, and the optimal trajectory is then obtained using a hybrid scheme comprising the particle swarm optimization method and the local conjugate gradient method. The numerical results confirm the feasibility of the optimized trajectories and show that the hybrid scheme is not only more computationally efficient than the standalone particle swarm optimization method, but also yields solutions of a higher quality. |
| doi_str_mv | 10.1016/j.rcim.2010.06.012 |
| format | Article |
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The numerical results confirm the feasibility of the optimized trajectories and show that the hybrid scheme is not only more computationally efficient than the standalone particle swarm optimization method, but also yields solutions of a higher quality.</description><identifier>ISSN: 0736-5845</identifier><identifier>EISSN: 1879-2537</identifier><identifier>DOI: 10.1016/j.rcim.2010.06.012</identifier><language>eng</language><publisher>Elsevier Ltd</publisher><subject>Automation ; Conjugate gradient method ; Hybrid strategy ; Manipulators ; Mathematical models ; Optimization ; Parallel platform manipulator ; Particle swarm optimization ; Platforms ; Robot arms ; Trajectories ; Trajectory planning</subject><ispartof>Robotics and computer-integrated manufacturing, 2011-02, Vol.27 (1), p.72-81</ispartof><rights>2010 Elsevier Ltd</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c332t-e551298474996cd0483eb1cfca64b01dd2e577f3247a8808b4663424b69e4383</citedby><cites>FETCH-LOGICAL-c332t-e551298474996cd0483eb1cfca64b01dd2e577f3247a8808b4663424b69e4383</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.sciencedirect.com/science/article/pii/S0736584510000633$$EHTML$$P50$$Gelsevier$$H</linktohtml><link.rule.ids>314,776,780,3537,27901,27902,65306</link.rule.ids></links><search><creatorcontrib>Chen, Chun-Ta</creatorcontrib><creatorcontrib>Liao, Te-Tan</creatorcontrib><title>A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators</title><title>Robotics and computer-integrated manufacturing</title><description>In planning the trajectories of motor-driven parallel platform manipulators, the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. 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The numerical results confirm the feasibility of the optimized trajectories and show that the hybrid scheme is not only more computationally efficient than the standalone particle swarm optimization method, but also yields solutions of a higher quality.</description><subject>Automation</subject><subject>Conjugate gradient method</subject><subject>Hybrid strategy</subject><subject>Manipulators</subject><subject>Mathematical models</subject><subject>Optimization</subject><subject>Parallel platform manipulator</subject><subject>Particle swarm optimization</subject><subject>Platforms</subject><subject>Robot arms</subject><subject>Trajectories</subject><subject>Trajectory planning</subject><issn>0736-5845</issn><issn>1879-2537</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2011</creationdate><recordtype>article</recordtype><recordid>eNp9kEtrwzAQhEVpoWnaP9CTbj051cuyDL2E0BcEesldyPI6kfGrklLwv69Meu5p2WFm2P0QeqRkQwmVz-3GW9dvGEkCkRtC2RVaUVWUGct5cY1WpOAyy5XIb9FdCC0hhImcr1C7xae58q7GIXoT4TjjZvQ4ngBH10OGzVBjGMAf5wyaxlkHQ8TJ2oKNo5_x1JlhcMMRjw2ejDddB90ixlTT494MbjqnbfThHt00pgvw8DfX6PD2eth9ZPuv98_ddp9ZzlnMIM8pK5UoRFlKWxOhOFTUNtZIURFa1wzyomg4E4VRiqhKSMkFE5UsQXDF1-jpUjv58fsMIereBQtduhPGc9BK0lwWRPHkZBen9WMIHho9edcbP2tK9IJVt3rBqhesmkidsKbQyyUE6YUfB16HhYmF2vmERNej-y_-Cw22geQ</recordid><startdate>20110201</startdate><enddate>20110201</enddate><creator>Chen, Chun-Ta</creator><creator>Liao, Te-Tan</creator><general>Elsevier Ltd</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>20110201</creationdate><title>A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators</title><author>Chen, Chun-Ta ; Liao, Te-Tan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c332t-e551298474996cd0483eb1cfca64b01dd2e577f3247a8808b4663424b69e4383</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Automation</topic><topic>Conjugate gradient method</topic><topic>Hybrid strategy</topic><topic>Manipulators</topic><topic>Mathematical models</topic><topic>Optimization</topic><topic>Parallel platform manipulator</topic><topic>Particle swarm optimization</topic><topic>Platforms</topic><topic>Robot arms</topic><topic>Trajectories</topic><topic>Trajectory planning</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Chen, Chun-Ta</creatorcontrib><creatorcontrib>Liao, Te-Tan</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Robotics and computer-integrated manufacturing</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Chen, Chun-Ta</au><au>Liao, Te-Tan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators</atitle><jtitle>Robotics and computer-integrated manufacturing</jtitle><date>2011-02-01</date><risdate>2011</risdate><volume>27</volume><issue>1</issue><spage>72</spage><epage>81</epage><pages>72-81</pages><issn>0736-5845</issn><eissn>1879-2537</eissn><abstract>In planning the trajectories of motor-driven parallel platform manipulators, the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. 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| ispartof | Robotics and computer-integrated manufacturing, 2011-02, Vol.27 (1), p.72-81 |
| issn | 0736-5845 1879-2537 |
| language | eng |
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| source | Elsevier ScienceDirect Journals |
| subjects | Automation Conjugate gradient method Hybrid strategy Manipulators Mathematical models Optimization Parallel platform manipulator Particle swarm optimization Platforms Robot arms Trajectories Trajectory planning |
| title | A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators |
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