Research of trajectory optimization on feeding manipulator based on internal penalty function

Chunli Wei

doi:10.1117/12.2246774

1 November 2016 Research of trajectory optimization on feeding manipulator based on internal penalty function

Chunli Wei

Proceedings Volume 10157, Infrared Technology and Applications, and Robot Sensing and Advanced Control; 1015726 (2016) https://doi.org/10.1117/12.2246774
Event: International Symposium on Optoelectronic Technology and Application 2016, 2016, Beijing, China

Abstract

This paper has discussed the problems of trajectory optimization of feeding manipulator based on penalty function. Has selected the types of feeding robot, which work on NC machining center of the flexible workshop, and created the mathematical model with penalty function, for the purpose not only to optimize its walking path to reduce the production cost, but also improve its safety and efficiency of production. It has been verified by theoretical analysis and practice, the path optimization method is feasible.

Citation Download Citation

Chunli Wei "Research of trajectory optimization on feeding manipulator based on internal penalty function", Proc. SPIE 10157, Infrared Technology and Applications, and Robot Sensing and Advanced Control, 1015726 (1 November 2016); https://doi.org/10.1117/12.2246774

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