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Robotic synthesis using a hierarchical multi-objective evolutionary algorithm

2008-07Conference object Open access
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dc.contributor.authorPires, E. J. Solteiro
dc.contributor.authorOliveira, P. B. Moura
dc.contributor.authorTenreiro Machado, J. A.
dc.date.accessioned2019-04-04T14:09:19Z
dc.date.available2019-04-04T14:09:19Z
dc.date.issued2008-07
dc.description.abstractThis paper addresses the robotic manipulator synthesis problem considering multiple design criteria simultaneously. This is a complex problem suitable for the application of multi-objective genetic algorithms. Thus, an hierarchical multi-objective genetic algorithm is proposed to generate a robot structure and corresponding manipulating trajectories. The design aim is to minimize the trajectory space ripple, the initial and final torques while optimizing the mechanical structure. Simulation results are presented concerning the solution of a structure synthesis problem with the optimization of three objectives.pt_PT
dc.description.versionN/Apt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/13401
dc.language.isoengpt_PT
dc.subjectGenetic Algorithmspt_PT
dc.subjectRoboticspt_PT
dc.subjectTrajectory Planningpt_PT
dc.subjectOptimizationpt_PT
dc.subjectMulti-Objectivept_PT
dc.titleRobotic synthesis using a hierarchical multi-objective evolutionary algorithmpt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceVila Real, Portugalpt_PT
oaire.citation.endPage92pt_PT
oaire.citation.startPage88pt_PT
oaire.citation.titleCONTROLO 2008 - 8th Portuguese Conference on Automatic Controlpt_PT
person.familyNameTenreiro Machado
person.givenNameJ. A.
person.identifier.ciencia-id7A18-4935-5B29
person.identifier.orcid0000-0003-4274-4879
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id55989030100
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublication.latestForDiscovery82cd5c17-07b6-492b-b3e3-ecebdad1254f

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