The Influence of the Duty Cycle Trajectory Length on the Energy Consumption of an Anthropomorphic Manipulator

• Autorzy: Cekus D. , Skrobek D.
• Języki publikacji: EN

Abstrakty

EN

The work presents the use of one of the heuristic algorithms - the Particle Swarm Optimization method - to determine the optimal trajectory of end-effector of an anthropomorphic manipulator. The task was to calculate the shortest 3D path connecting three defined points avoiding fixed obstacles. An indirect method was used to search for trajectory with extra points generated randomly. The trajectory was defined as a spline. The influence of stop criterion, the number of auxiliary points between defined points on the action of the algorithm and the study results has been analyzed. For found out trajectory the electricity consumption required to execute a duty cycle of an anthropomorphic manipulator has been determined.

Słowa kluczowe

EN

anthropomorphic manipulator; duty cycle; energy consumption; particle swarm optimization (PSO); trajectory

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2017
• Tom: Vol. 41, No. 4
• Strony: 17--27
• Opis fizyczny: Bibliogr. 14 poz., schem., tab., wykr.

Twórcy

autor

Cekus D.

• Politechnika Częstochowska, Instytut Mechaniki i Podstaw Konstrukcji Maszyn

autor

Skrobek D.

• Politechnika Częstochowska, Instytut Mechaniki i Podstaw Konstrukcji Maszyn

Bibliografia

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