Because of the redundance of boom system of five-arm concrete pump truck and some drawback of the original particle swarm optimization (PSO) algorithm, an improved PSO algorithm is presented to solve the inverse kinematic problem of the redundant boom system. By the improved PSO algorithm the multi-objective trajectory planning of the redundant boom system that works in a workspace without obstacle and with obstacles is optimized, which consider different importance degree of the sub-goals respectively. By the simulation study and experiment study the optimal results verify the effectiveness of the improved PSO. At the same time the performance of the improved PSO is compared with that of the PSO, and the superiority is further demonstrated.
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陈育新,聂进,颜红芹.一种改进粒子群算法及其在多目标冗余机器臂轨迹规划中的应用[J].机床与液压,2017,45(18):177-184. . Multi-objective trajectory planning of redundant manipulators based on an improved particle swarm optimization and application[J]. Machine Tool & Hydraulics,2017,45(18):177-184