Publication
Trajectory planning of redundant manipulators using genetic algorithms
| dc.contributor.author | Marcos, Maria da Graça | |
| dc.contributor.author | Machado, J. A. Tenreiro | |
| dc.contributor.author | Azevedo-Perdicoúlis, T. P. | |
| dc.date.accessioned | 2014-06-25T11:13:13Z | |
| dc.date.available | 2014-06-25T11:13:13Z | |
| dc.date.issued | 2009 | |
| dc.description.abstract | 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. | por |
| dc.identifier.doi | 10.1016/j.cnsns.2008.10.014 | pt_PT |
| dc.identifier.issn | 1007-5704 | |
| dc.identifier.uri | http://hdl.handle.net/10400.22/4575 | |
| dc.language.iso | eng | por |
| dc.peerreviewed | yes | por |
| dc.publisher | Elsevier | por |
| dc.relation.ispartofseries | Communications in Nonlinear Science and Numerical Simulation; Vol. 14, Issue 7 | |
| dc.relation.publisherversion | http://www.sciencedirect.com/science/article/pii/S1007570408003754 | por |
| dc.subject | Redundant manipulators | por |
| dc.subject | Kinematics | por |
| dc.subject | Genetic algorithms | por |
| dc.subject | Trajectory planning | por |
| dc.title | Trajectory planning of redundant manipulators using genetic algorithms | por |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 2869 | por |
| oaire.citation.issue | Issue 7 | por |
| oaire.citation.startPage | 2858 | por |
| oaire.citation.title | Communications in Nonlinear Science and Numerical Simulation | por |
| oaire.citation.volume | Vol. 14 | por |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | por |
| rcaap.type | article | por |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |