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Advisor(s)
Abstract(s)
The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. The results are compared with a genetic algorithm that adopts the direct kinematics. In both cases the trajectory planning is formulated as an optimization problem with constraints.
Description
Keywords
Redundant manipulators Kinematics Genetic algorithms Trajectory planning
Citation
Publisher
Elsevier