Multi-objective Genetic Manipulator Trajectory Planner

Pires, E. J. Solteiro; Oliveira, P. B. de Moura; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13260

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Authors

Pires, E. J. Solteiro

Oliveira, P. B. de Moura

Tenreiro Machado, J. A.

Abstract(s)

This paper proposes a multi-objective genetic algorithm to optimize a manipulator trajectory. The planner has several objectives namely the minimization of the space and join arm displacements and the energy required in the trajectory, without colliding with any obstacles in the workspace. Simulations results are presented for robots with two and three degrees of freedom, considering the optimization of two and three objectives.