Global optimization of manipulator base placement by means of rapidly-exploring random tree

• 作 者: 赵京 Hu Weijian Shang Hong Du Bi
• 机 构: CollegeofMechanicalEngineeringandAppliedElectronicsTechnology,NationalEarthquakeResponseSupportServe
• 出 处: 高技术通讯：英文版
• 发表日期: 2016年1期
• 关键词: 全局优化 机械手 随机 位置优化 运动规划 底座安装 空间机械臂 运动学性能 base placement rapidly-exploring random
• 基金项目: Supported by the National Science and Technology Support Program of China （No. 2013BAK03B01 ）.

Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optim