A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles

A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles

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...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Solteiro Pires, E.J., Tenreiro Machado, J.A.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Genetic algorithms
Kinematics
Manipulators
Motion planning
Path planning
Process planning
Robots
Torque
Trajectory
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Beschreibung
Zusammenfassung: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.
DOI:10.1109/CEC.2000.870771