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Improving Positioning Precision Reliability of Manipulators with Uncertain Parameters Based on PSO Algorithm
並列摘要
In this paper, an optimization design method is proposed to indirectly improve the reliability of positioning precision for one degree-of-freedom manipulator with uncertain parameters. An experimental one degree-of-freedom manipulator for test purpose is set up, its dynamic model based on Lagrange equation is built. The main uncertain factors which influence the positioning performance are analyzed. By using spatial transforms method, the uncertain variables are extracted by means of Latin hypercube sampling. The error weights are calculated according to the distances from sampling points to the mean point in the transformed space. A simulation model is established with MATLAB/ SIMULINK, and the simulations are run for every sampling point to get the positioning errors. The weighted sum of positioning errors is calculated as a performance index which is optimized by particle swarm optimization algorithm. Simulations and experiments show that the proposed method has remarkable optimization effect.
延伸閱讀
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