Journal
JOURNAL OF MARINE SCIENCE AND ENGINEERING
Volume 11, Issue 5, Pages -Publisher
MDPI
DOI: 10.3390/jmse11050938
Keywords
flexible manipulator; vibration suppression; trajectory planning; sparrow search algorithm; incremental Kriging
Categories
Ask authors/readers for more resources
Expanding the functions of submarines by carrying underwater manipulators with a large working space is of great importance. To suppress the flexible vibration of underwater manipulators, an improved sparrow search algorithm (ISSA) combining an elite strategy and a sine algorithm is proposed. Simulation results show that ISSA algorithm outperforms other algorithms in terms of optimization performance. However, due to the complexity of the dynamics model, ISSA is difficult to apply directly in practice.
It is of great significance to expand the functions of submarines by carrying underwater manipulators with a large working space. To suppress the flexible vibration of underwater manipulators, an improved sparrow search algorithm (ISSA) combining an elite strategy and a sine algorithm is proposed for the trajectory planning of underwater flexible manipulators. In this method, the vibration evaluation function is established based on the precise dynamic model of the underwater flexible manipulator and considering complex motion and vibration constraints. Simulation results show that the ISSA algorithm requires only 1/3.68 of the time of PSO. Compared to PSO, SSA and the opposition-based learning sparrow search algorithm (OBLSSA), the optimization performance is improved by 17.3%, 13.1% and 9.7%, respectively. However, because the complex dynamics model of the underwater flexible manipulator leads to large computational effort and a long optimization time, ISSA is difficult to apply directly in practice. To obtain a large number of optimization results in a shorter time, an incremental Kriging-assisted ISSA (IKA-ISSA) is proposed in this paper. Simulation results show that IKA-ISSA has good nonlinear approximation ability and the optimization time is only 3% of that of the ISSA.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available