Two new algorithms for minimum time motion path planning of robot manipulators and their implementations on PVR-based control platform

摘要

To deal with the minimum time motion path planning (MTMPP) of robot manipulators to execute point-to-point work task, a novel hybrid evolutionary computation simulated annealing algorithm EC~*SA and an algorithm EC~*SA--DP combining EC~*SA and some special optimization techniques were presented. The advantages of novel optimal algorithm were demonstrated through a comparison with existing preferable elastic net method (ENM) and some other optimal algorithms such as simple genetic algorithm (SGA) and simulated annealing (SA) algorithm. In addition, virtual simulation experiments were carried out on the control platform based on projective virtual reality (PVR) technology. The virtual experimental results show that the precision of projective operability is greatly enhanced in the virtual environment.