Publication
An evolutionary approach to the trajectory planning of redundant robots
| dc.contributor.author | Marcos, Maria da Graça | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.contributor.author | Azevedo-Perdicoúlis, T. P. | |
| dc.date.accessioned | 2019-04-04T14:34:00Z | |
| dc.date.available | 2019-04-04T14:34:00Z | |
| dc.date.issued | 2008-07 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.version | N/A | pt_PT |
| dc.identifier.doi | 10.1109/ISGTEurope.2012.6465761 | |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13409 | |
| dc.language.iso | eng | pt_PT |
| dc.subject | Manipulators control | pt_PT |
| dc.subject | Kinematic redundancy | pt_PT |
| dc.subject | Algorithms | pt_PT |
| dc.title | An evolutionary approach to the trajectory planning of redundant robots | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Porto, Portugal | pt_PT |
| oaire.citation.endPage | 14 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | 2nd Conference on Nonlinear Science and Complexity | pt_PT |
| person.familyName | Marcos | |
| person.familyName | Tenreiro Machado | |
| person.givenName | Maria da Graça | |
| person.givenName | J. A. | |
| person.identifier.orcid | 0000-0003-3218-998X | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 35196599500 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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