Applying Niche Genetic Algorithms to Optimizing Motion Control of Multi-DOF Robots
| Autor: | Yu-ming Kuo, 郭祐銘 |
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| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 This research uses genetic algorithms with the direct kinematics equations to explore the inverse kinematics solutions of multiple DOFs (Degree of Freedoms) robot arms. And the motion smoothness in the joint spaces would be guaranteed simultaneously in the inverse process. The inverse kinematics solutions of a multiple DOFs robot arm are multimodal in nature and usually multiple possible configurations may exist to achieve the expected manipulator position. While considering the parameterized motion smoothness of a robot arm, several possible peak values would distribute in the search space and form the local minima set to be overcome. Hence, the niche method is applied here to maintain the diversity of genetic algorithms and serve as the global optimum explorer. In the article, an experimental robot arm is modeled by Denavit-Hartenbreg (D-H) formulations according to the direct kinematics and used to validate the joint-space smoothness for the proposed inverse solutions. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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