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Verfasser: Xu, Yicen Erschienen: Warsaw: De Gruyter, 2024
URN: urn:nbn:de:101:1-2024040515365321802992
Pfad:
Optimal trajectory planning and control of industrial robot based on ADAM algorithm of nonlinear data set

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Paladyn

Zeitschrift

Titel:
Paladyn
Erschienen:
Warsaw: De Gruyter
Fußnote:
Gesehen am 03.01.22
Open Access
Namensnennung 4.0 International
Archivierung/Langzeitarchivierung gewährleistet
Umfang:
Online-Ressource
ISSN:
2081-4836
ZDB-ID:
2550006-5 ZDB
VÖBB-Katalog:
35326634
Schlagworte:
Zeitschrift
ZLB-Systematik:
Informatik
Sammlung:
Informatik
Copyright:
Rechte vorbehalten
Zugriffsberechtigung:
Eingeschränkter Zugang mit Nutzungsbeschränkungen
Titel:
Paladyn
Erschienen:
Warsaw: De Gruyter
Fußnote:
Gesehen am 03.01.22
Open Access
Namensnennung 4.0 International
Archivierung/Langzeitarchivierung gewährleistet
Umfang:
Online-Ressource
ISSN:
2081-4836
ZDB-ID:
2550006-5 ZDB
VÖBB-Katalog:
35326634
Schlagworte:
Zeitschrift
ZLB-Systematik:
Informatik
Sammlung:
Informatik
Copyright:
Rechte vorbehalten
Zugriffsberechtigung:
Eingeschränkter Zugang mit Nutzungsbeschränkungen

Optimal trajectory planning and control of industrial robot based on ADAM algorithm of nonlinear data set

Aufsatz

Verfasser:
Xu, Yicen
Titel:
Optimal trajectory planning and control of industrial robot based on ADAM algorithm of nonlinear data set
Erschienen:
Warsaw: De Gruyter, 2024
Sprache:
Englisch
Zusammenfassung:
Abstract: In order to better realize the optimal trajectory planning and trajectory control in industrial robots, a method based on ADAM algorithm is proposed. Taking PUMA 560 industrial robot as the research object, using nonlinear data sets and mathematical ADAM algorithm function planning, an optimal calculation method for time trajectory planning of industrial robot is explored. Finally, the programming, optimization, and simulation of the program code are implemented using MATLAB, and a standardized optimal trajectory planning is established. The experimental results show that the running time difference of the trajectory corresponding to the three joint points is small. In order to synchronize the position of each joint point in time, it is necessary to choose the optimal joint point position according to the time trajectory, so as to ensure the synchronization between each key node. Therefore, the joint node position is adjusted so that the total time and the final simulation results are basically synchronized in time, and both are 10.35 s. It proves that the improved ADAM algorithm realizes the trajectory optimization of industrial robots in terms of time planning, which can make the various joints of industrial robots basically synchronized in the time trajectory.
Umfang:
Online-Ressource
Fußnote:
Open Access
Archivierung/Langzeitarchivierung gewährleistet
Schlagworte:
ADAM algorithm function ; trajectory optimization ; PUMA560
ZLB-Systematik:
Informatik
Sonstiges
URN:
urn:nbn:de:101:1-2024040515365321802992
Sammlung:
Informatik
Sonstiges
Copyright:
CC BY
Zugriffsberechtigung:
Freier Zugang
Verfasser:
Xu, Yicen
Titel:
Optimal trajectory planning and control of industrial robot based on ADAM algorithm of nonlinear data set
Erschienen:
Warsaw: De Gruyter, 2024
Sprache:
Englisch
Zusammenfassung:
Abstract: In order to better realize the optimal trajectory planning and trajectory control in industrial robots, a method based on ADAM algorithm is proposed. Taking PUMA 560 industrial robot as the research object, using nonlinear data sets and mathematical ADAM algorithm function planning, an optimal calculation method for time trajectory planning of industrial robot is explored. Finally, the programming, optimization, and simulation of the program code are implemented using MATLAB, and a standardized optimal trajectory planning is established. The experimental results show that the running time difference of the trajectory corresponding to the three joint points is small. In order to synchronize the position of each joint point in time, it is necessary to choose the optimal joint point position according to the time trajectory, so as to ensure the synchronization between each key node. Therefore, the joint node position is adjusted so that the total time and the final simulation results are basically synchronized in time, and both are 10.35 s. It proves that the improved ADAM algorithm realizes the trajectory optimization of industrial robots in terms of time planning, which can make the various joints of industrial robots basically synchronized in the time trajectory.
Umfang:
Online-Ressource
Fußnote:
Open Access
Archivierung/Langzeitarchivierung gewährleistet
Schlagworte:
ADAM algorithm function ; trajectory optimization ; PUMA560
ZLB-Systematik:
Informatik
Sonstiges
URN:
urn:nbn:de:101:1-2024040515365321802992
Sammlung:
Informatik
Sonstiges
Copyright:
CC BY
Zugriffsberechtigung:
Freier Zugang
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