Trajectory planning of redundant manipulators using genetic algorithms

Bibliographic Details
Main Author: Marcos, Maria da Graça
Publication Date: 2009
Other Authors: Machado, J. A. Tenreiro, Azevedo-Perdicoúlis, T. P.
Format: Article
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.22/4575
Summary: 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.
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spelling Trajectory planning of redundant manipulators using genetic algorithmsRedundant manipulatorsKinematicsGenetic algorithmsTrajectory planningThe 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.ElsevierREPOSITÓRIO P.PORTOMarcos, Maria da GraçaMachado, J. A. TenreiroAzevedo-Perdicoúlis, T. P.2014-06-25T11:13:13Z20092009-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/4575eng1007-570410.1016/j.cnsns.2008.10.014info: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:RCAAP2025-04-02T03:23:51Zoai:recipp.ipp.pt:10400.22/4575Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:54:25.548974Repositórios 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 planning of redundant manipulators using genetic algorithms
title Trajectory planning of redundant manipulators using genetic algorithms
spellingShingle Trajectory planning of redundant manipulators using genetic algorithms
Marcos, Maria da Graça
Redundant manipulators
Kinematics
Genetic algorithms
Trajectory planning
title_short Trajectory planning of redundant manipulators using genetic algorithms
title_full Trajectory planning of redundant manipulators using genetic algorithms
title_fullStr Trajectory planning of redundant manipulators using genetic algorithms
title_full_unstemmed Trajectory planning of redundant manipulators using genetic algorithms
title_sort Trajectory planning of redundant manipulators using genetic algorithms
author Marcos, Maria da Graça
author_facet Marcos, Maria da Graça
Machado, J. A. Tenreiro
Azevedo-Perdicoúlis, T. P.
author_role author
author2 Machado, J. A. Tenreiro
Azevedo-Perdicoúlis, T. P.
author2_role author
author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Marcos, Maria da Graça
Machado, J. A. Tenreiro
Azevedo-Perdicoúlis, T. P.
dc.subject.por.fl_str_mv Redundant manipulators
Kinematics
Genetic algorithms
Trajectory planning
topic Redundant manipulators
Kinematics
Genetic algorithms
Trajectory planning
description 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.
publishDate 2009
dc.date.none.fl_str_mv 2009
2009-01-01T00:00:00Z
2014-06-25T11:13:13Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/4575
url http://hdl.handle.net/10400.22/4575
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 1007-5704
10.1016/j.cnsns.2008.10.014
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.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
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
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instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
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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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