A hybrid differential evolution and particle swarm optimization algorithm for numerical kinematics solution of remote maintenance manipulators
A hybrid differential evolution and particle swarm optimization algorithm for numerical kinematics solution of remote maintenance manipulators
复制标题
远程维护机械臂数值运动学求解的混合差分进化与粒子群优化算法
DOI：
10.1016/j.fusengdes.2017.03.042
复制
发表时间：
2017-11
影响因子：
1.7
通讯作者：
Mao BY
中科院分区：
文献类型：
--
作者：
Mao Bingyan;Xie Zhijiang;Wang Yongbo;H;roos Heikki;Wu Huapeng;Shi Shanshuang;Mao BY
在ITER或未来的DEMO反应堆系统中，由于中子活化，必须使用各种特殊定制的自动机械手来执行远程处理任务，例如检查、修理和/或维护容器内和容器外的组件。这些机械手可以设计为纯串联关节臂或纯并联机构，但对于需要大工作空间和高有效载荷/重量比的复杂远程操作任务，它将被设计为这两种机构组合的混合结构。为了获得特殊的远程操作，复杂的结构使得维护非常耗时。为了获得这些机械手的正运动学和/或逆运动学，差分进化（DE）和改进的粒子群优化（MPSO）相结合的全局优化方法，在这里我们称之为DEMPSO，开发，以节省求解时间。一般的案例研究集中在串联，并联机器人和10自由度混合冗余串并联机器人设计的ITER真空容器远程维护。研究结果可用于解决ITER或未来DEMO遥控操作机械手的运动学问题。所提出的优化算法也可用于机器人标定系统中的静态和/或动态参数识别。
In the ITER or the future DEMO reactor systems, due to the neutron activation, the remote handling tasks such as inspection, repair and/or maintenance of in-vessel and ex-vessel components must be carried out using a wide variety of special tailored automatic manipulators. These manipulators can be designed as a pure serial articulated arm or a pure parallel mechanism, but for the sophisticated remote handling tasks requiring large workspace and high payload/weight ratio, it would be designed as a hybrid structure combined by these two mechanisms. The complex structure to obtain special remote operation makes the maintenance very time-consuming. To obtain the forward and/or the inverse kinematics of these manipulators, a global optimization method combined by differential evolution (DE) and modified particle swarm optimization (MPSO), here we call it as DEMPSO, is developed to save solution time. The general case studies focus on serial, parallel manipulators and the 10-DOF hybrid redundant serial-parallel robot designed for ITER vacuum vessel remote maintenance. The results would be extrapolated to solve the kinematic problems of the ITER or the future DEMO remote handling manipulators. The proposed optimization algorithm can also be used for the static and/or dynamic parameter identification in robot calibration systems.
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DOI：
10.1109/70.86079
发表时间：
1991-08
期刊：
IEEE Trans. Robotics Autom.
影响因子：
--
作者：
L. T. Wang;Chih-Cheng Chen
通讯作者：
L. T. Wang;Chih-Cheng Chen
DOI：
10.2316/journal.205.2012.4.205-5750
发表时间：
2012-01
影响因子：
3.1
作者：
Yongbo Wang;Huapeng Wu;H. Handroos
通讯作者：
Yongbo Wang;Huapeng Wu;H. Handroos
DOI：
10.1109/icma.2007.4304032
发表时间：
2007-09
期刊：
2007 International Conference on Mechatronics and Automation
影响因子：
--
作者：
Lei Li;Qidan Zhu;Liyan Xu
通讯作者：
Lei Li;Qidan Zhu;Liyan Xu
影响因子：
7.8
作者：
Parikh, PJ;Lam, SSY
通讯作者：
Lam, SSY