Shifu Xu*, Yanan Jiang
CMES-Computer Modeling in Engineering & Sciences, Vol.125, No.1, pp. 401-415, 2020, DOI:10.32604/cmes.2020.09608
Abstract Aiming at the problem that the trajectory tracking performance of
redundant manipulator corresponding to the target position is difficult to optimize,
the trajectory tracking method of redundant manipulator based on PSO algorithm
optimization is studied. The kinematic diagram of redundant manipulator is created, to derive the equation of motion trajectory of redundant manipulator end.
Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy. Based on the tracking ellipse of redundant manipulator, the tracking shape
of redundant manipulator is determined with the overall tracking index as the second index, and the optimization method of tracking index is… More >
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