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Trajectory planning of redundant manipulators using genetic algorithms
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Orientador(es)
Resumo(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.
Descrição
Palavras-chave
Redundant manipulators Kinematics Genetic algorithms Trajectory planning
Contexto Educativo
Citação
Editora
Elsevier