Particle swarm optimization versus genetic algorithm in manipulator trajectory planning

Detalhes bibliográficos
Autor(a) principal: Pires, E. J. Solteiro
Data de Publicação: 2006
Outros Autores: Oliveira, P. B. Moura, Tenreiro Machado, J. A., Cunha, J. Boaventura
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: http://hdl.handle.net/10400.22/13328
Resumo: The aim of this study is the reduction of the computational burden associated with the evolutionary optimization of manipulator trajectory planning. This paper proposes the use of a particle swarm optimization algorithm to generate trajectories for robotic planar manipulators, based on direct kinematics. The design objective is to minimize the ripple in the trajectory time evolution. Several redundant and hyperredundant manipulators are considered. The particle swarm optimization algorithm is compared with genetic algorithm in solving the manipulator trajectory planning problem. Preliminary simulation results are presented.
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spelling Particle swarm optimization versus genetic algorithm in manipulator trajectory planningParticle Swarm OptimizationGenetic AlgorithmsRoboticsTrajectoryPlanningOptimizationThe aim of this study is the reduction of the computational burden associated with the evolutionary optimization of manipulator trajectory planning. This paper proposes the use of a particle swarm optimization algorithm to generate trajectories for robotic planar manipulators, based on direct kinematics. The design objective is to minimize the ripple in the trajectory time evolution. Several redundant and hyperredundant manipulators are considered. The particle swarm optimization algorithm is compared with genetic algorithm in solving the manipulator trajectory planning problem. Preliminary simulation results are presented.REPOSITÓRIO P.PORTOPires, E. J. SolteiroOliveira, P. B. MouraTenreiro Machado, J. A.Cunha, J. Boaventura2019-04-02T11:12:02Z2006-092006-09-01T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/13328enginfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-04-02T03:08:12Zoai:recipp.ipp.pt:10400.22/13328Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:43:45.121952Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
title Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
spellingShingle Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
Pires, E. J. Solteiro
Particle Swarm Optimization
Genetic Algorithms
Robotics
Trajectory
Planning
Optimization
title_short Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
title_full Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
title_fullStr Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
title_full_unstemmed Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
title_sort Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
author Pires, E. J. Solteiro
author_facet Pires, E. J. Solteiro
Oliveira, P. B. Moura
Tenreiro Machado, J. A.
Cunha, J. Boaventura
author_role author
author2 Oliveira, P. B. Moura
Tenreiro Machado, J. A.
Cunha, J. Boaventura
author2_role author
author
author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Pires, E. J. Solteiro
Oliveira, P. B. Moura
Tenreiro Machado, J. A.
Cunha, J. Boaventura
dc.subject.por.fl_str_mv Particle Swarm Optimization
Genetic Algorithms
Robotics
Trajectory
Planning
Optimization
topic Particle Swarm Optimization
Genetic Algorithms
Robotics
Trajectory
Planning
Optimization
description The aim of this study is the reduction of the computational burden associated with the evolutionary optimization of manipulator trajectory planning. This paper proposes the use of a particle swarm optimization algorithm to generate trajectories for robotic planar manipulators, based on direct kinematics. The design objective is to minimize the ripple in the trajectory time evolution. Several redundant and hyperredundant manipulators are considered. The particle swarm optimization algorithm is compared with genetic algorithm in solving the manipulator trajectory planning problem. Preliminary simulation results are presented.
publishDate 2006
dc.date.none.fl_str_mv 2006-09
2006-09-01T00:00:00Z
2019-04-02T11:12:02Z
dc.type.driver.fl_str_mv conference object
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13328
url http://hdl.handle.net/10400.22/13328
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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