一种结合解析法和遗传算法求解集装箱捆扎机械手逆解的新方法

2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE) Pub Date : 2019-05-01 DOI:10.1109/ICACMVE.2019.00065

Zhang Yanwei, Wang Yingchun, Liu Hengfei

{"title":"一种结合解析法和遗传算法求解集装箱捆扎机械手逆解的新方法","authors":"Zhang Yanwei, Wang Yingchun, Liu Hengfei","doi":"10.1109/ICACMVE.2019.00065","DOIUrl":null,"url":null,"abstract":"In order to improve the operating efficiency of containers at terminals, an industrial manipulator technology is proposed to replace the manual fastening of container binding parts. To get the inverse solution of the manipulator efficiently, a new method combining Analytic Method and Genetic Algorithm is proposed. The simulation results obtained by the MATLAB software show that the optimal inverse kinematics solution of the manipulator can be obtained by this new method, and the convergence speed is better than that of the traditional Genetic Algorithm.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A New Method Combining Analytic Method and Genetic Algorithm for the Inverse Solution of Container Binding Manipulator\",\"authors\":\"Zhang Yanwei, Wang Yingchun, Liu Hengfei\",\"doi\":\"10.1109/ICACMVE.2019.00065\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In order to improve the operating efficiency of containers at terminals, an industrial manipulator technology is proposed to replace the manual fastening of container binding parts. To get the inverse solution of the manipulator efficiently, a new method combining Analytic Method and Genetic Algorithm is proposed. The simulation results obtained by the MATLAB software show that the optimal inverse kinematics solution of the manipulator can be obtained by this new method, and the convergence speed is better than that of the traditional Genetic Algorithm.\",\"PeriodicalId\":375616,\"journal\":{\"name\":\"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)\",\"volume\":\"20 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICACMVE.2019.00065\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICACMVE.2019.00065","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

为了提高集装箱在码头的作业效率，提出了一种工业机械手技术来代替人工紧固集装箱捆绑件。为了高效求解机械臂的逆解，提出了一种将解析法与遗传算法相结合的求解方法。MATLAB软件仿真结果表明，该方法可获得机械手的最优运动学逆解，且收敛速度优于传统遗传算法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A New Method Combining Analytic Method and Genetic Algorithm for the Inverse Solution of Container Binding Manipulator

In order to improve the operating efficiency of containers at terminals, an industrial manipulator technology is proposed to replace the manual fastening of container binding parts. To get the inverse solution of the manipulator efficiently, a new method combining Analytic Method and Genetic Algorithm is proposed. The simulation results obtained by the MATLAB software show that the optimal inverse kinematics solution of the manipulator can be obtained by this new method, and the convergence speed is better than that of the traditional Genetic Algorithm.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)

自引率

0.00%

发文量