Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm
To address issues in traditional shotcrete manipulator trajectory planning algorithms, such as abrupt transitions between multiple path segments and low shotcrete efficiency and uniformity caused by frequent starts and stops, an optimized motion trajectory method based on the adaptive inertia weight...
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| Format: | Article |
| Language: | zho |
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Editorial Department of Industry and Mine Automation
2024-12-01
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| Series: | Gong-kuang zidonghua |
| Subjects: | |
| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2024080094 |
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| _version_ | 1832591103482658816 |
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| author | SHI Can TAN Ziliang LEI Chao LI Yunwang XU Hanfei HU Qiaowei JI Zhendong |
| author_facet | SHI Can TAN Ziliang LEI Chao LI Yunwang XU Hanfei HU Qiaowei JI Zhendong |
| author_sort | SHI Can |
| collection | DOAJ |
| description | To address issues in traditional shotcrete manipulator trajectory planning algorithms, such as abrupt transitions between multiple path segments and low shotcrete efficiency and uniformity caused by frequent starts and stops, an optimized motion trajectory method based on the adaptive inertia weight and acceleration coefficient particle swarm optimization (AIWCPSO) algorithm was proposed. An improved multi-segment trajectory planning algorithm was developed, which incorporated a transition strategy combining linear and arc trajectories. Vertical linear motion was replaced with arc motion. Additionally, a sinusoidal acceleration and deceleration start-stop algorithm was used to plan the trajectory of the end effector of the manipulator at start and stop points to prevent abrupt changes in acceleration. The middle segment of linear and arc trajectories was planned for uniform motion, ensuring smooth and uniform movement at the end effector of the manipulator. Using the AIWCPSO algorithm, motion parameters were optimized under kinematic constraints to achieve the optimal shotcrete time and speed, thereby improving the efficiency and uniformity of the shotcrete manipulator. Experimental results showed that, compared with traditional trajectory planning algorithms, the improved multi-segment trajectory planning algorithm increased average shotcrete efficiency by 25.42% and significantly improved the uniformity of shotcrete trajectory. After optimization with the AIWCPSO algorithm, shotcrete efficiency increased by 1.330 8%. |
| format | Article |
| id | doaj-art-7294fc698ef74639928bca97eeaafe40 |
| institution | Kabale University |
| issn | 1671-251X |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj-art-7294fc698ef74639928bca97eeaafe402025-01-23T02:17:44ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2024-12-01501215516510.13272/j.issn.1671-251x.2024080094Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithmSHI CanTAN ZiliangLEI ChaoLI YunwangXU HanfeiHU QiaoweiJI ZhendongTo address issues in traditional shotcrete manipulator trajectory planning algorithms, such as abrupt transitions between multiple path segments and low shotcrete efficiency and uniformity caused by frequent starts and stops, an optimized motion trajectory method based on the adaptive inertia weight and acceleration coefficient particle swarm optimization (AIWCPSO) algorithm was proposed. An improved multi-segment trajectory planning algorithm was developed, which incorporated a transition strategy combining linear and arc trajectories. Vertical linear motion was replaced with arc motion. Additionally, a sinusoidal acceleration and deceleration start-stop algorithm was used to plan the trajectory of the end effector of the manipulator at start and stop points to prevent abrupt changes in acceleration. The middle segment of linear and arc trajectories was planned for uniform motion, ensuring smooth and uniform movement at the end effector of the manipulator. Using the AIWCPSO algorithm, motion parameters were optimized under kinematic constraints to achieve the optimal shotcrete time and speed, thereby improving the efficiency and uniformity of the shotcrete manipulator. Experimental results showed that, compared with traditional trajectory planning algorithms, the improved multi-segment trajectory planning algorithm increased average shotcrete efficiency by 25.42% and significantly improved the uniformity of shotcrete trajectory. After optimization with the AIWCPSO algorithm, shotcrete efficiency increased by 1.330 8%.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2024080094roadway supportshotcrete manipulatormulti-segment trajectory planning algorithmsinusoidal acceleration and deceleration start-stop algorithmaiwcpso algorithmmotion parameter optimization |
| spellingShingle | SHI Can TAN Ziliang LEI Chao LI Yunwang XU Hanfei HU Qiaowei JI Zhendong Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm Gong-kuang zidonghua roadway support shotcrete manipulator multi-segment trajectory planning algorithm sinusoidal acceleration and deceleration start-stop algorithm aiwcpso algorithm motion parameter optimization |
| title | Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm |
| title_full | Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm |
| title_fullStr | Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm |
| title_full_unstemmed | Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm |
| title_short | Optimization of shotcrete manipulator motion trajectory based on AIWCPSO algorithm |
| title_sort | optimization of shotcrete manipulator motion trajectory based on aiwcpso algorithm |
| topic | roadway support shotcrete manipulator multi-segment trajectory planning algorithm sinusoidal acceleration and deceleration start-stop algorithm aiwcpso algorithm motion parameter optimization |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2024080094 |
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