Jumping pattern optimization for a serial link robot through soft computing technique

• Matsui Takeshi

  Hiroshima University

• Sakawa Masatoshi

  Hiroshima University

• Uno Takeshi

  Hiroshima University

• Kato Kosuke

  Hiroshima University

• Higashimori Mitsuru

  Hiroshima University

• Kaneko Makoto

  Hiroshima University

Abstract

In this paper, we focus on the maximization of the height of jump of a serial link robot. The jump height maximization problem is formulated as a nonlinear programming problem, where torque patterns to drive joints in the robot are decision variables and the objective function is an inexplicit function whose value is obtained as an output of a simulator. As a previous reasearch, an approximate solution method using a genetic algorithm was proposed. In the research, some interesting joint drive torque patterns were found by the method, but it costed much time to obtain a drive torque pattern. In order to shorten the computational time, in this paper, we propose a new solution method using a particle swarm optimization (PSO) technique.

Journal

• SCIS & ISIS

  SCIS & ISIS 2006 (0), 1514-1518, 2006

  Japan Society for Fuzzy Theory and Intelligent Informatics

Keywords

• serial link robot
• jumping pattern generation
• particle swarm optimization

Details

• CRID: 1390282680567546880
• NII Article ID: 130004672378
• DOI: 10.14864/softscis.2006.0.1514.0
• Text Lang: en
• Data Source:
  • JaLC
  • CiNii Articles
• Abstract License Flag: Disallowed