Trajectory Optimization of High-Speed Robotic Positioning with Suppressed Motion Jerk via Improved Chicken Swarm Algorithm Article Swipe
Yankun Li
,
Yuyang Lu
,
Dongya Li
,
Minning Zhou
,
Chonghai Xu
,
Xiao‐Zhi Gao
,
Yu Liu
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/app13074439
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/app13074439
For the trajectory optimization of the time–jerk of robotic arms with a chicken swarm optimization algorithm, using five-order B-spline interpolation can ensure smooth and continuous acceleration, but, due to the performance problems of the algorithm, the low solution accuracy and the slow convergence speed, the ideal trajectory curve cannot be obtained. To address these problems, an improved chicken swarm algorithm based on a parallel strategy and dynamic constraints (PDCSO) is proposed, where the rooster update method is employed with a parallel strategy using X-best guidance and a Levy flight step. Dynamic constraints for the rooster are given, followed by the hens, and the optimal rooster position that improved the convergence accuracy while preventing the local optimum was determined. Simulation experiments using 18 classical test functions showed that the PDCSO algorithm outperformed other comparative algorithms in terms of convergence speed, solution accuracy and solution stability. Simulation validation in ADAMS and real machine tests proved that PDCSO can effectively reduce the running time and motion shock for robotic arms and improve the execution efficiency of such arms.
Related Topics
Concepts
Jerk
Acceleration
Convergence (economics)
Swarm behaviour
Computer science
Algorithm
Rooster
Trajectory
Control theory (sociology)
Particle swarm optimization
Position (finance)
Mathematical optimization
Mathematics
Artificial intelligence
Economic growth
Philosophy
Economics
Classical mechanics
Physics
Finance
Control (management)
Theology
Astronomy
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/app13074439
- https://www.mdpi.com/2076-3417/13/7/4439/pdf?version=1680242872
- OA Status
- gold
- Cited By
- 5
- References
- 14
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4362466853
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4362466853Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/app13074439Digital Object Identifier
- Title
-
Trajectory Optimization of High-Speed Robotic Positioning with Suppressed Motion Jerk via Improved Chicken Swarm AlgorithmWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-03-31Full publication date if available
- Authors
-
Yankun Li, Yuyang Lu, Dongya Li, Minning Zhou, Chonghai Xu, Xiao‐Zhi Gao, Yu LiuList of authors in order
- Landing page
-
https://doi.org/10.3390/app13074439Publisher landing page
- PDF URL
-
https://www.mdpi.com/2076-3417/13/7/4439/pdf?version=1680242872Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2076-3417/13/7/4439/pdf?version=1680242872Direct OA link when available
- Concepts
-
Jerk, Acceleration, Convergence (economics), Swarm behaviour, Computer science, Algorithm, Rooster, Trajectory, Control theory (sociology), Particle swarm optimization, Position (finance), Mathematical optimization, Mathematics, Artificial intelligence, Economic growth, Philosophy, Economics, Classical mechanics, Physics, Finance, Control (management), Theology, AstronomyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
5Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 2, 2023: 3Per-year citation counts (last 5 years)
- References (count)
-
14Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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