生物群最適化に基づくシリアルリンクロボットの跳躍高最大化

DOI Web Site 被引用文献1件 参考文献9件

書誌事項

タイトル別名
  • Maximization of Jump Height of a Serial Link Robot Based on Particle Swarm Optimization
  • セイブツグン サイテキカ ニ モトズク シリアル リンク ロボット ノ チョウヤクダカ サイダイカ

この論文をさがす

抄録

In this paper, we focus on the maximization of the jump height 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 jump simulator. As a previous reasearch, an approximate solution method using a genetic algorithm was proposed for the jump height maximization problem. 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 improve the accuracy of the obtained solution and shorten the computational time, in this paper, we propose a new solution method based on particle swarm optimization (PSO) .

収録刊行物

被引用文献 (1)*注記

もっと見る

参考文献 (9)*注記

もっと見る

関連プロジェクト

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ