Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm

doi:10.1016/j.fusengdes.2016.02.015

	Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm
	Wu, Jing 1,2; Wu, Huapeng 2; Song, Yuntao 1; Cheng, Yong1 ; Zhao, Wenglong 1; Wang, Yongbo 2
	2016-11-01
发表期刊	FUSION ENGINEERING AND DESIGN
摘要	EAMA (EAST Articulated Maintenance Arm) is an articulated serial manipulator with 7 degrees of freedom (DOF) articulated arm followed by 3-DOF gripper, total length is 8.867 m, works in experimental advanced superconductor tokamak (EAST) vacuum vessel (VV) to perform blanket inspection and remote maintenance tasks. This paper presents a trajectory optimization method which aims to pursue the 7-DOF articulated arm a stable movement, which keeps the mounted inspection camera anti-vibration. Based on dynamics analysis, trajectory optimization algorithm adopts multi-order polynomial interpolation in joint space and high order geometry Jacobian transform. The object of optimization algorithm is to suppress end-effector movement vibration by minimizing jerk RMS (root mean square) value. The proposed solution has such characteristics which can satisfy kinematic constraints of EAMA's motion and ensure the arm running under the absolute values of velocity, acceleration and jerk boundaries. GA (genetic algorithm) is employed to find global and robust solution for this problem. (C) 2016 Elsevier B.V. All rights reserved.
文章类型	Article
关键词	Eama Genetic Algorithm Minimum Jerk Interpolation Polynomial Trajectory Planning
WOS标题词	Science & Technology ; Technology
DOI	10.1016/j.fusengdes.2016.02.015
关键词[WOS]	ROBOT MANIPULATORS ; SMOOTH
收录类别	SCI ; ISTP
语种	英语
WOS研究方向	Nuclear Science & Technology
WOS类目	Nuclear Science & Technology
WOS记录号	WOS:000382421900122
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/30824
专题	中科院等离子体物理研究所
作者单位	1.Chinese Acad Sci, Inst Plasma Phys, 350 Shushanhu Rd, Hefei, Anhui, Peoples R China 2.Lappeenranta Univ Technol, Skinnarilankatu 34, Lappeenranta, Finland
第一作者单位	中科院等离子体物理研究所
推荐引用方式 GB/T 7714	Wu, Jing,Wu, Huapeng,Song, Yuntao,et al. Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm[J]. FUSION ENGINEERING AND DESIGN,2016,109(无):700-706.
APA	Wu, Jing,Wu, Huapeng,Song, Yuntao,Cheng, Yong,Zhao, Wenglong,&Wang, Yongbo.(2016).Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm.FUSION ENGINEERING AND DESIGN,109(无),700-706.
MLA	Wu, Jing,et al."Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm".FUSION ENGINEERING AND DESIGN 109.无(2016):700-706.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Genetic algorithm tr（1315KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览下载