In view of incomplete probability information multi-objective question, it used probabilistic perturbation method and Edgeworth series technique to study reliability optimization design. The first four moments of basi...In view of incomplete probability information multi-objective question, it used probabilistic perturbation method and Edgeworth series technique to study reliability optimization design. The first four moments of basic random variables are known under condition. It used the Ant Colony Algorithm to design cutting head roadheader, the optimized result indicated that cutting head load fluctuation and compared energy consumption were reduced obviously at the same time. This result enhanced roadheader operational reliability and energy effectively.展开更多
Feasible,smooth,and time-jerk optimal trajectory is essential for manipulators utilized in manufacturing process.A novel technique to generate trajectories in the joint space for robotic manipulators based on quintic ...Feasible,smooth,and time-jerk optimal trajectory is essential for manipulators utilized in manufacturing process.A novel technique to generate trajectories in the joint space for robotic manipulators based on quintic B-spline and constrained multi-objective student psychology based optimization(CMOSPBO)is proposed in this paper.In order to obtain the optimal trajectories,two objective functions including the total travelling time and the integral of the squared jerk along the whole trajectories are considered.The whole trajectories are interpolated by quintic B-spline and then optimized by CMOSPBO,while taking into account kinematic constraints of velocity,acceleration,and jerk.CMOSPBO mainly includes improved student psychology based optimization,archive management,and an adaptiveε-constraint handling method.Lévyflights and differential mutation are adopted to enhance the global exploration capacity of the improved SPBO.Theεvalue is varied with iterations and feasible solutions to prevent the premature convergence of CMOSPBO.Solution density estimation corresponding to the solution distribution in decision space and objective space is proposed to increase the diversity of solutions.The experimental results show that CMOSPBO outperforms than SQP,and NSGA-II in terms of the motion efficiency and jerk.The comparison results demonstrate the effectiveness of the proposed method to generate time-jerk optimal and jerk-continuous trajectories for manipulators.展开更多
文摘In view of incomplete probability information multi-objective question, it used probabilistic perturbation method and Edgeworth series technique to study reliability optimization design. The first four moments of basic random variables are known under condition. It used the Ant Colony Algorithm to design cutting head roadheader, the optimized result indicated that cutting head load fluctuation and compared energy consumption were reduced obviously at the same time. This result enhanced roadheader operational reliability and energy effectively.
基金funded by Zhejiang Provincial Soft Science Project of China under Grant Number 2023C35088.
文摘Feasible,smooth,and time-jerk optimal trajectory is essential for manipulators utilized in manufacturing process.A novel technique to generate trajectories in the joint space for robotic manipulators based on quintic B-spline and constrained multi-objective student psychology based optimization(CMOSPBO)is proposed in this paper.In order to obtain the optimal trajectories,two objective functions including the total travelling time and the integral of the squared jerk along the whole trajectories are considered.The whole trajectories are interpolated by quintic B-spline and then optimized by CMOSPBO,while taking into account kinematic constraints of velocity,acceleration,and jerk.CMOSPBO mainly includes improved student psychology based optimization,archive management,and an adaptiveε-constraint handling method.Lévyflights and differential mutation are adopted to enhance the global exploration capacity of the improved SPBO.Theεvalue is varied with iterations and feasible solutions to prevent the premature convergence of CMOSPBO.Solution density estimation corresponding to the solution distribution in decision space and objective space is proposed to increase the diversity of solutions.The experimental results show that CMOSPBO outperforms than SQP,and NSGA-II in terms of the motion efficiency and jerk.The comparison results demonstrate the effectiveness of the proposed method to generate time-jerk optimal and jerk-continuous trajectories for manipulators.
