| Zhao Jing (赵京),Hu Weijian,Shang Hong,Du Bin.[J].高技术通讯(英文),2016,22(1):24~29 |
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| Global optimization of manipulator base placement by means of rapidly-exploring random tree |
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| DOI：10.3772/j.issn.1006-6748.2016.01.004 |
| 中文关键词: |
| 英文关键词: base placement, rapidly-exploring random tree (RRT), rapidly-exploring random Tree* (RRT*), optimization |
| 基金项目: |
| Author Name | Affiliation | | Zhao Jing (赵京) | | | Hu Weijian | | | Shang Hong | | | Du Bin | |
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| 中文摘要: |
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| 英文摘要: |
| Due to the interrelationship between the base placement of the manipulator and its operation object, it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location. A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators. Firstly, research problems and contents are outlined. And then the feasible area for the manipulator base installation is discussed. Next, index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined. Although the mentioned indices in last section are regarded as the cost function of the latter，rapidly-exploring random tree (RRT) and rapidly-exploring random tree* (RRT*) algorithms are analyzed. And then, the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria. Finally, the conclusions could be proved effective from the simulation results. |
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