DocumentCode
2109401
Title
Intelligent optimal design of a spatial controllable multi-DOF manipulator
Author
Xiao Liping
Author_Institution
Coll. of Eng., Jiangxi Agric. Univ., Nanchang, China
fYear
2010
fDate
29-31 July 2010
Firstpage
1566
Lastpage
1569
Abstract
Some difficult problems in engineering was not completed because of restrictions on freedom of the fixed components of mechanism. With the parameter analytical method, a controllable multi-DOF manipulator model was defined on the basis of spatial closed link mechanism. The analysis of kinematics was done and the parameters of its trajectory was intelligently optimized by MATLAB, in order to achieve the aim of the best multi-DOF movement pattern and trajectory by optimal control structure. Which provide theoretical basis for robot bionic technology, complex surface manufacture and solving engineering problems.
Keywords
intelligent control; manipulator kinematics; optimal control; position control; intelligent optimal design; kinematics analysis; optimal control structure; robot bionic technology; spatial closed link mechanism; spatial controllable multiDOF manipulator; trajectory parameter; Acceleration; Analytical models; Manipulators; Mathematical model; Optimal control; Tracking; Intelligent Optimal Design; Manipulator; Multi-DOF; Robot; Simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2010 29th Chinese
Conference_Location
Beijing
Print_ISBN
978-1-4244-6263-6
Type
conf
Filename
5573492
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