Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4272
Título: An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators
Autor: Marcos, Maria da Graça
Machado, J. A. Tenreiro
Azevedo-Perdicoúlis, T. P.
Palavras-chave: Redundant manipulators
Hyper-redundant manipulators
Genetic algorithms
Trajectory planning
Data: 2010
Editora: Springer
Relatório da Série N.º: Nonlinear Dynamics; Vol. 60, Issue 1-2
Resumo: The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable control of redundant manipulators, and avoiding the joint angle drift problem. Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration. The solution is repeatable for a workspace with and without obstacles in the sense that, after executing several cycles, the initial and final states of the manipulator are very close.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4272
ISSN: 0924-090X
Versão do Editor: http://link.springer.com/article/10.1007%2Fs11071-009-9584-y
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