Trajectory optimization for redundant robots using genetic algorithms with heuristic operators

Detalhes bibliográficos
Autor(a) principal: Pires, E. J. Solteiro
Data de Publicação: 2000
Outros Autores: Tenreiro Machado, J. A.
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: http://hdl.handle.net/10400.22/13413
Resumo: This paper proposes a genetic algorithm to generate trajectories for robotic manipulators. The objective is to minimize the ripple in the trajectory time evolution and to minimize the actuator energy requirements without colliding with any obstacles in the workspace. The article presents the results for several redundant and hyper-redundant manipulators.
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spelling Trajectory optimization for redundant robots using genetic algorithms with heuristic operatorsGenetic algorithmsRoboticsTrajectory planningOptimizationThis paper proposes a genetic algorithm to generate trajectories for robotic manipulators. The objective is to minimize the ripple in the trajectory time evolution and to minimize the actuator energy requirements without colliding with any obstacles in the workspace. The article presents the results for several redundant and hyper-redundant manipulators.REPOSITÓRIO P.PORTOPires, E. J. SolteiroTenreiro Machado, J. A.2019-04-05T09:34:57Z2000-07-082000-07-08T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/13413enginfo: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:RCAAP2025-04-02T03:14:51Zoai:recipp.ipp.pt:10400.22/13413Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:47:58.174533Repositórios 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 Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
title Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
spellingShingle Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
Pires, E. J. Solteiro
Genetic algorithms
Robotics
Trajectory planning
Optimization
title_short Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
title_full Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
title_fullStr Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
title_full_unstemmed Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
title_sort Trajectory optimization for redundant robots using genetic algorithms with heuristic operators
author Pires, E. J. Solteiro
author_facet Pires, E. J. Solteiro
Tenreiro Machado, J. A.
author_role author
author2 Tenreiro Machado, J. A.
author2_role author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Pires, E. J. Solteiro
Tenreiro Machado, J. A.
dc.subject.por.fl_str_mv Genetic algorithms
Robotics
Trajectory planning
Optimization
topic Genetic algorithms
Robotics
Trajectory planning
Optimization
description This paper proposes a genetic algorithm to generate trajectories for robotic manipulators. The objective is to minimize the ripple in the trajectory time evolution and to minimize the actuator energy requirements without colliding with any obstacles in the workspace. The article presents the results for several redundant and hyper-redundant manipulators.
publishDate 2000
dc.date.none.fl_str_mv 2000-07-08
2000-07-08T00:00:00Z
2019-04-05T09:34:57Z
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/10400.22/13413
url http://hdl.handle.net/10400.22/13413
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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