CAJ | 학술논문

本文为解决复杂的随机规划问题设计了一种基于随机模拟的混沌量子蜜蜂算法,证明了该算法的收敛性,并分析了算法的收敛速度.分析6自由度空间机器人系统的不确定性,采用基于微分变换法进行误差分析,建立了随机数学规划模型.为涉及故障前后运动学与动力学约束限制的容错轨迹规划,以加权最小驱动力矩为优化性能指标,采用混沌量了蜜蜂算法求解全部工作时间中机械臂故障前后的最优轨迹.通过降低异常关节的运动速度来降低故障关节力矩,保证机械臂在发生故障后具有较高的操作能力.案例研究验证了该算法的有效性、稳定性及准确性.
본문위해결복잡적수궤규화문제설계료일충기우수궤모의적혼돈양자밀봉산법,증명료해산법적수렴성,병분석료산법적수렴속도.분석6자유도공간궤기인계통적불학정성,채용기우미분변환법진행오차분석,건립료수궤수학규화모형.위섭급고장전후운동학여동역학약속한제적용착궤적규화,이가권최소구동력구위우화성능지표,채용혼돈량료밀봉산법구해전부공작시간중궤계비고장전후적최우궤적.통과강저이상관절적운동속도래강저고장관절력구,보증궤계비재발생고장후구유교고적조작능력.안례연구험증료해산법적유효성、은정성급준학성.
A stochastic simulation based chaos quantum honey bee algorithm(CQHBA)is designed for solving the complex stochastic programming problem.A proof of convergence is developed and the convergence speed of the algorithm is analyzed.Through analyzing the uncertainty and system errors of a 6 DOF space robot based on the differential transformation method,a stochastic mathematical model is built.To realize fault tolerance operation before and after the joint failures,the considerations on both kinematical and dynamical restrictions are taken into account.The optimal trajectory of the manipulator all along the work time before and after its joint failure is computed by CQHBA with minimal weighted driver torque as the performance optimization objective.Through lowering the motion velocity of the abnormal joint,the allowed torque of the abnormal joint is reduced.The algorithm guarantees that the manipulator has high manipulability after joint failure moment to accomplish its task successively,and lower the joint torque.A case study is presented to investigate the efficiency,stability and accuracy of the proposed algorithm.