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A Real-Time Optimization for 2R Manipulators
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Orientador(es)
Resumo(s)
This work proposes a real-time algorithm to generate a trajectory for
a 2 link planar robotic manipulator. The objective is to minimize the space/time
ripple and the energy requirements or the time duration in the robot trajectories.
The proposed method uses an off line genetic algorithm to calculate every possible
trajectory between all cells of the workspace grid. The resultant trajectories are
saved in several trees. Then any trajectory requested is constructed in real-time,
from these trees. The article presents the results for several experiments.