TY - GEN
T1 - Robot belt grinding trajectory optimization based on GLS-PSO
AU - Yang, Hongjun
AU - Song, Yixu
AU - Liang, Wei
AU - Jia, Peifa
PY - 2011
Y1 - 2011
N2 - To automatically generate the reference trajectory of control parameters in robot belt grinding system, this paper presents a Genetic and Local Search-based Particle Swarm Optimization Algorithm to optimize two main parameters, contact force and feed rate. The proposed approach takes advantage of Local Search Technology to accelerate the learning and searching process, which is expected to improve the quality of particles as well; Meanwhile, Genetic crossover between individuals is used to combine good genes to produce better offspring. The experimental results show that the GLS-PSO is superior to LS-PSO, G-PSO and S-SPO in terms of both algorithm performance and optimized effects. In addition, the proposed GLS-PSO algorithm meets the requirements of industrial control in robotic belt grinding, which demonstrates the feasibility of this method.
AB - To automatically generate the reference trajectory of control parameters in robot belt grinding system, this paper presents a Genetic and Local Search-based Particle Swarm Optimization Algorithm to optimize two main parameters, contact force and feed rate. The proposed approach takes advantage of Local Search Technology to accelerate the learning and searching process, which is expected to improve the quality of particles as well; Meanwhile, Genetic crossover between individuals is used to combine good genes to produce better offspring. The experimental results show that the GLS-PSO is superior to LS-PSO, G-PSO and S-SPO in terms of both algorithm performance and optimized effects. In addition, the proposed GLS-PSO algorithm meets the requirements of industrial control in robotic belt grinding, which demonstrates the feasibility of this method.
KW - Genetic Algorithm
KW - Local Search
KW - Particle Swarm Optimization
KW - Robotic Belt Grinding
KW - Trajectory Optimization
UR - https://www.scopus.com/pages/publications/80053065664
M3 - Conference contribution
AN - SCOPUS:80053065664
SN - 9789881725592
T3 - Proceedings of the 30th Chinese Control Conference, CCC 2011
SP - 5418
EP - 5423
BT - Proceedings of the 30th Chinese Control Conference, CCC 2011
T2 - 30th Chinese Control Conference, CCC 2011
Y2 - 22 July 2011 through 24 July 2011
ER -