Structure and trajectory optimization for redundant manipulators

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

http://hdl.handle.net/10400.22/13374

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Authors

Pires, E. J. Solteiro

Tenreiro Machado, J. A.

Oliveira, P. B. de Moura

Abstract(s)

This paper proposes a genetic algorithm to generate a robot structure and the required manipulating trajectories. The objective is to minimize the space/time ripple in the trajectory without colliding with any obstacles in the workspace, while optimizing the mechanical structure.