Intelligent algorithms for six degrees of freedom robot trajectory planning considering vibration suppression
نویسندگان
چکیده
Abstract The residual vibration of the flexible joint manipulator during and after movement will seriously affects positioning accuracy manipulator. This paper discusses trajectory planning method for suppressing vibration. A optimal model which contains minimization both time jerk was proposed. An optimization based on comprehensive learning particle swarm (CLPSO) algorithm utilized solving problem. Compared with other solution method, CLPLO has advantages avoiding premature convergence. numerical simulation case shows that obtained in this generated less effectiveness proposed verified to some extent.
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ژورنال
عنوان ژورنال: Journal of physics
سال: 2022
ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']
DOI: https://doi.org/10.1088/1742-6596/2365/1/012042