王从庆, 尹朝万. 一种基于遗传算法的多机器人内力优化计算方法[J]. 机器人, 2000, 22(4): 276-281.
引用本文: 王从庆, 尹朝万. 一种基于遗传算法的多机器人内力优化计算方法[J]. 机器人, 2000, 22(4): 276-281.
WANG Cong-qing, YIN Chao-wan. OPTIMAL INTERNAL FORCE COMPUTING SCHEME FOR MULTIPLE MANIPULATORS USING GENETIC ALGORITHMS[J]. ROBOT, 2000, 22(4): 276-281.
Citation: WANG Cong-qing, YIN Chao-wan. OPTIMAL INTERNAL FORCE COMPUTING SCHEME FOR MULTIPLE MANIPULATORS USING GENETIC ALGORITHMS[J]. ROBOT, 2000, 22(4): 276-281.

一种基于遗传算法的多机器人内力优化计算方法

OPTIMAL INTERNAL FORCE COMPUTING SCHEME FOR MULTIPLE MANIPULATORS USING GENETIC ALGORITHMS

  • 摘要: 本文在对多机器人静力分析的基础上,考虑最大作用力约束和点接触静摩擦约束,提出了一种采用混合遗传-模拟退火算法的内力优化计算方法,并通过2个平面机器人夹持一负载的仿真实验,给出了内力和负载分配的优化计算结果.

     

    Abstract: In this paper, based on analysis of static forces for multiple manipulators, a computing scheme for dynamic optimal internal force is presented by mixed genetic-simulated annealing algorithms, in which the maximum force constraints and the static frictional constraints at contacts points are considered as optimizing conditions. Optimal computing results of internal force and load distribution a regiven by the simulation of planar dualmanipulators holding a load.

     

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