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相关概念视频

Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Orthogonal Trajectories01:26

Orthogonal Trajectories

Orthogonal trajectories describe the geometric relationship between two families of curves that intersect each other at right angles. One illustrative case involves a family of parabolas that open sideways along the x-axis. These curves share a common shape but differ by a scaling parameter, resulting in a set of curves that all pass through the origin and widen at different rates.Determining Orthogonal TrajectoriesTo identify the orthogonal trajectories for these parabolas, the first step...

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一种用于造分类机器人手臂的轨迹规划方法,基于自然灵感的成吉思汗鱼优化算法.

Chengjun Wang1,2, Xingyu Yao2, Fan Ding2

  • 1School of Artificial Intelligence, Anhui University of Science and Technology, Huainan 232001, China.

Mathematical biosciences and engineering : MBE
|March 8, 2024
PubMed
概括

本研究介绍了一种新的最佳时间轨迹规划方法,用于造排序机器人手臂,利用成吉思汗鱼 (GKS) 启发式算法和细分多项式. 这种方法提高了轨迹的流性和效率,优于传统方法.

关键词:
成吉思汗鱼优化器 鱼优化器公共服务人员算法PSO算法造分类操纵器 造分类操纵器通过多项式插值对多项式进行插值.轨道规划 轨道规划 轨道规划

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工智能的人工智能
  • 优化算法 优化算法

背景情况:

  • 造分类机器人手臂需要高效和光滑的轨迹以获得最佳性能.
  • 现有的轨迹规划方法可能会面临局部最佳和融合速度的挑战.

研究的目的:

  • 开发一个时间最优的轨迹规划方法,用于造分类机器人手臂.
  • 用一种新的启发式算法来提高轨迹的平滑性,效率和融合.

主要方法:

  • 构建了一个机器人手臂模型并分析了它的工作空间.
  • 使用分段插值多项式 (立方体和五进制) 来解决轨迹参数.
  • 将动态非线性学习因子集成到粒子集群优化 (PSO) 算法中,灵感来自成吉思汗鱼 (GKS) 的行为.
  • 模拟了GKS启发的行为,并为时间优化优化了目标函数.

主要成果:

  • 拟议的方法导致机器人手臂的平滑和连续的轨迹速度.
  • 在定义的约束范围内优化整体运行时间.
  • 与传统的PSO相比,改进的PSO算法显示出更高的收性.
  • 受GKS启发的方法减少了陷入局部最佳状态的可能性.

结论:

  • 开发的轨迹规划方法有效地满足了造分类机器人臂的效率和流性要求.
  • 灵感来自于GKS的优化策略增强了趋同,避免了局部最佳,证实了算法的有效性.