Time-Optimal Trajectory Planning of 6-DOF Manipulator Based on Fuzzy Control
نویسندگان
چکیده
Currently, the teaching programming or offline used by an industrial manipulator can manually set running speed of manipulator. In this paper, to consider and stability manipulator, time-optimal trajectory planning (TOTP) is transformed into a nonlinear optimal value search problem under multiple constraints, time-search algorithm based on fuzzy control proposed, so that end run along given path in Cartesian space for shortest time, angular velocity acceleration each joint within limited range. addition, simulation model 6-DOF established MATLAB, taking straight-line as example, effectiveness efficiency proposed paper are proved comparing execution time with bisection traditional gradient descent method.
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ژورنال
عنوان ژورنال: Actuators
سال: 2022
ISSN: ['2076-0825']
DOI: https://doi.org/10.3390/act11110332