Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator
In order to realize the accurate and fast grasping of the target object by the manipulator in the complex environment， a multi-population ant colony algorithm is proposed.Firstly，a mathematical model is established and analy zed by using the kinematics method of manipulator. Then， the angles of the...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-04-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.026 |
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| _version_ | 1841547279985541120 |
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| author | Youtao Zhu Zhiqin He Wenye Shi |
| author_facet | Youtao Zhu Zhiqin He Wenye Shi |
| author_sort | Youtao Zhu |
| collection | DOAJ |
| description | In order to realize the accurate and fast grasping of the target object by the manipulator in the complex environment， a multi-population ant colony algorithm is proposed.Firstly，a mathematical model is established and analy zed by using the kinematics method of manipulator. Then， the angles of the manipulator is adjusted according to the objective function to achieve the global optimization. Finally， through simulation experiment， compared with the present algorithm of path planning of manipulator，the simulation results show that the algorithm has more performance advantages in grasping time and accuracy. |
| format | Article |
| id | doaj-art-413aa61de32f4ea7b1ede61f2305ff30 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-04-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-413aa61de32f4ea7b1ede61f2305ff302025-01-10T14:49:28ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-04-01451601658813495Design and Application of Multi-colony Ant Algorithm in Path Planning of ManipulatorYoutao ZhuZhiqin HeWenye ShiIn order to realize the accurate and fast grasping of the target object by the manipulator in the complex environment， a multi-population ant colony algorithm is proposed.Firstly，a mathematical model is established and analy zed by using the kinematics method of manipulator. Then， the angles of the manipulator is adjusted according to the objective function to achieve the global optimization. Finally， through simulation experiment， compared with the present algorithm of path planning of manipulator，the simulation results show that the algorithm has more performance advantages in grasping time and accuracy.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.026Multi-colony ant algorithmManipulatorPath planningKinematics method of manipulator |
| spellingShingle | Youtao Zhu Zhiqin He Wenye Shi Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator Jixie chuandong Multi-colony ant algorithm Manipulator Path planning Kinematics method of manipulator |
| title | Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator |
| title_full | Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator |
| title_fullStr | Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator |
| title_full_unstemmed | Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator |
| title_short | Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator |
| title_sort | design and application of multi colony ant algorithm in path planning of manipulator |
| topic | Multi-colony ant algorithm Manipulator Path planning Kinematics method of manipulator |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.026 |
| work_keys_str_mv | AT youtaozhu designandapplicationofmulticolonyantalgorithminpathplanningofmanipulator AT zhiqinhe designandapplicationofmulticolonyantalgorithminpathplanningofmanipulator AT wenyeshi designandapplicationofmulticolonyantalgorithminpathplanningofmanipulator |