A carregar...
Publicação
An evolutionary approach to the trajectory planning of redundant robots
| Nome: | Descrição: | Tamanho: | Formato: | |
|---|---|---|---|---|
| 388.92 KB | Adobe PDF |
Orientador(es)
Resumo(s)
Several kinematic techniques for the trajectory optimization of redundant manipulators control the gripper using the pseudoinverse of the Jacobian. Nevertheless, these algorithms lead to a kind of chaotic motion with unpredictable arm configurations. This paper presents a new technique for solving the inverse kinematics problem for redundant manipulators that combines the closed-loop pseudoinverse method with genetic algorithms.
Descrição
Palavras-chave
Manipulators control Kinematic redundancy Algorithms