Orientational path planning for 6R robot

Łęgowski, Adrian; Niezabitowski, Michał; Grzejszczak, Tomasz

doi:10.1109/carpathiancc.2016.7501137

Cited by 1 publication

(1 citation statement)

References 29 publications

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“…Algorithm based on the derived formulas and logical conditions has been implemented in Adept Smart Controller Cx. Literatures [2] are based on kinematics for more in-depth path planning studies. This paper innovatively applies BQGA to the inverse kinematics program, which not only expands the application field of intelligent algorithms, but also provides a new perspective for solving kinematic problems.…”

Section: Introductionmentioning

confidence: 99%

Application of Improved BQGA in Robot Kinematics Inverse Solution

Zhao

2019

Journal of Robotics

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In view of the problem that Bloch Quantum Genetic Algorithm (BQGA) is easy to fall into local optimum, an improved BQGA is proposed. The algorithm can control the step size and the mutation probability in real time in the iterative process, avoiding over the optimal solution and guaranteeing search efficiency. In addition, the improved algorithm further completes the anti-degradation mechanism, which maintains the diversity of the population while preserving the dominant gene to the maximum extent, so that the algorithm is not easy to fall into the local extremum and finally approaches the global optimal solution. The application in the inverse solution of robot kinematics shows that the improved BQGA effectively avoids the premature problem and accelerates the convergence of understanding and the search result is close to the complete solution, which provides a new idea for solving complex nonlinear and multivariate functional equations.

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Section: Introductionmentioning

confidence: 99%

Application of Improved BQGA in Robot Kinematics Inverse Solution

Zhao

2019

Journal of Robotics

View full text Add to dashboard Cite

show abstract

Orientational path planning for 6R robot

Cited by 1 publication

References 29 publications

Application of Improved BQGA in Robot Kinematics Inverse Solution

Application of Improved BQGA in Robot Kinematics Inverse Solution

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