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- Title
Research on Reconfigurable Hydraulic Robot Configuration Based on Genetic Algorithm.
- Authors
Jiang Lin; Zhang Hongwei; Xiang Xianbao; Chen Xinyuan; Zhao Jie
- Abstract
Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigurable hydraulic robot configuration design optimization. The joints sequence and joints kinds were used as two different discrete variables to express the discrete optimization configuration problem. The different combinations of the two discrete variables represented different configurations. The appropriate weighting factors of twelve basic movement joints were designated and analyzed. The seven kinds of performance, as well as position of joint in a configuration and function overlap of the joint were all considered in the weighting factors of twelve basic movement joints. Every configuration had a comprehensive weighted evaluation factor. Combining with improved genetic algorithm optimization ability, an optimal configuration with good weighted evaluation factor was obtained in the discrete and larger search space. Based on the above theory the simulation model was established, and the simulation results verified that the configuration design optimization theory of reconfigurable hydraulic robot based on improved genetic algorithm was correct.
- Subjects
RECONFIGURABLE robots; FLUIDIC computers; PRODUCT attributes; GENETIC algorithms; ROBOTS; PROBLEM solving; PERFORMANCE evaluation
- Publication
International Review on Computers & Software, 2011, Vol 6, Issue 7, p1301
- ISSN
1828-6003
- Publication type
Article