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A Method for Optimizing the Base Position of Mobile Painting Manipulators
Ren SN(任书楠)
Source PublicationIEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
2017
Volume14Issue:1Pages:370-375
AbstractThis paper presents an algorithm to optimize the base position of a mobile manipulator to meet the equirements of local painting tasks. Considering the physical limits and singularity of the manipulator, the feasible base positions are first discretely calculated with the given poses of the end effector by inverse kinematics. Then, the joint-level performance criteria are proposed with respect to the requirements of the painting process. The weight coefficients are also determined by the critic method to balance the contribution of every criterion. Thus, the globally near-optimal base position is selected by sorting all feasible positions according to the evaluation criteria. The experimental results show that the planning result is well executed and has an acceptable computation time, thus demonstrating that the algorithm is both practical and effective compared with previous methods.
KeywordBase Position Mobile Manipulator Offline Planning Optimization Method Spray Painting
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19551
Collection类脑智能研究中心
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
Ren SN. A Method for Optimizing the Base Position of Mobile Painting Manipulators[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2017,14(1):370-375.
APA Ren SN.(2017).A Method for Optimizing the Base Position of Mobile Painting Manipulators.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,14(1),370-375.
MLA Ren SN."A Method for Optimizing the Base Position of Mobile Painting Manipulators".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 14.1(2017):370-375.
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