Configuration Optimization Method of Reconfigurable Manipulator based on Dijkstra Algorithm

DOI

10.2991/icsmim-15.2016.56How to use a DOI?

Keywords

Reconfigurable manipulator, Configuration optimization, Genetic algorithm, Dijkstra algorithm, Shortest path of directed graph.

Abstract

In this paper, a novel configuration optimization method is proposed for reconfigurable manipulator. The optimize configuration of reconfigurable manipulator is proposed by using the genetic algorithm and the Dijkstra algorithm. Considering both minimum task execution time and minimum energy consumption, the evaluation criteria of genetic algorithm is formed inverse kinematic solution of reconfigurable manipulator. Based on general expression of joint transform matrix of reconfigurable manipulator, inverse kinematics problem is transformed into the problem of shortest path problem in directed graph. The virtual module is introduced to optimize the degree of freedom (DOF) of the manipulator Configuration. Finally, the results of the optimization analysis are verified by the simulation results.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xinyu Liu
AU  - Bo Dong
AU  - Keping Liu
AU  - Yuanchun Li
PY  - 2016/01
DA  - 2016/01
TI  - Configuration Optimization Method of Reconfigurable Manipulator based on Dijkstra Algorithm
BT  - Proceedings of the 2015 4th International Conference on Sensors, Measurement and Intelligent Materials
PB  - Atlantis Press
SP  - 296
EP  - 302
SN  - 2352-538X
UR  - https://doi.org/10.2991/icsmim-15.2016.56
DO  - 10.2991/icsmim-15.2016.56
ID  - Liu2016/01
ER  -