Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/3793
Título: A multi-objective approach for the motion planning of redundant manipulators
Autor: Marcos, Maria da Graça
Machado, J. A. Tenreiro
Azevedo-Perdicoúlis, T. P.
Palavras-chave: Redundant manipulators
Robots
Kinematics
Multi-objective genetic algorithms
Trajectory planning
Data: 2012
Editora: Elsevier
Relatório da Série N.º: Applied Soft Computing; Vol. 12, Issue 2
Resumo: Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often there are multiple optimization objectives that can conflict between them. Unlike single optimization, where one attempts to find the best solution, in multi-objective optimization there is no single solution that is optimum with respect to all indices. Therefore, trajectory planning of redundant robots remains an important area of research and more efficient optimization algorithms are needed. This paper presents a new technique to solve the inverse kinematics of redundant manipulators, using a multi-objective genetic algorithm. This scheme combines the closed-loop pseudo-inverse method with a multi-objective genetic algorithm to control the joint positions. Simulations for manipulators with three or four rotational joints, considering the optimization of two objectives in a workspace without and with obstacles are developed. The results reveal that it is possible to choose several solutions from the Pareto optimal front according to the importance of each individual objective.
Peer review: yes
URI: http://hdl.handle.net/10400.22/3793
ISSN: 1568-4946
Versão do Editor: http://www.sciencedirect.com/science/article/pii/S1568494611004303
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