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

Gespeichert in:
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
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 1116 vol.2
container_issue
container_start_page 1110
container_title
container_volume 2
creator Solteiro Pires, E.J.
Tenreiro Machado, J.A.
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.
doi_str_mv 10.1109/CEC.2000.870771
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_870771</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>870771</ieee_id><sourcerecordid>870771</sourcerecordid><originalsourceid>FETCH-LOGICAL-i174t-f9b69075421cb5b5a615b74b42011dbaacd22be7a29b9e0651b378180f10b44b3</originalsourceid><addsrcrecordid>eNotkF1LwzAYhQMiKLPXglfvH2h9kyZNe1nKnMLAG70eSfd2i64fJunG_r2TCQcODweei8PYI8eMc6yem2WTCUTMSo1a8xuWVLrES_Ii10rdsSSEr8uOUslCF_esq2FVw0Q-TNRGdyQYO4h7AhrI787g6Wd2nnoaYoBu9NCbwU3zwcTRhz-g-UjeDTtwAxg4jf47TKYlOLm4h9GGaNoDhQd225lDoOS_F-zzZfnRvKbr99VbU69Tx7WMaVfZokKtpOCtVVaZgiurpZUCOd9aY9qtEJa0EZWtCAvFba5LXmLH0Upp8wV7unodEW0m73rjz5vrGfkvfYlVyg</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Solteiro Pires, E.J. ; Tenreiro Machado, J.A.</creator><creatorcontrib>Solteiro Pires, E.J. ; Tenreiro Machado, J.A.</creatorcontrib><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.</description><identifier>ISBN: 9780780363755</identifier><identifier>ISBN: 0780363752</identifier><identifier>DOI: 10.1109/CEC.2000.870771</identifier><language>eng</language><publisher>IEEE</publisher><subject>Actuators ; Genetic algorithms ; Kinematics ; Manipulators ; Motion planning ; Path planning ; Process planning ; Robots ; Torque ; Trajectory</subject><ispartof>Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512), 2000, Vol.2, p.1110-1116 vol.2</ispartof><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/870771$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/870771$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Solteiro Pires, E.J.</creatorcontrib><creatorcontrib>Tenreiro Machado, J.A.</creatorcontrib><title>A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles</title><title>Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)</title><addtitle>CEC</addtitle><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.</description><subject>Actuators</subject><subject>Genetic algorithms</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Motion planning</subject><subject>Path planning</subject><subject>Process planning</subject><subject>Robots</subject><subject>Torque</subject><subject>Trajectory</subject><isbn>9780780363755</isbn><isbn>0780363752</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2000</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkF1LwzAYhQMiKLPXglfvH2h9kyZNe1nKnMLAG70eSfd2i64fJunG_r2TCQcODweei8PYI8eMc6yem2WTCUTMSo1a8xuWVLrES_Ii10rdsSSEr8uOUslCF_esq2FVw0Q-TNRGdyQYO4h7AhrI787g6Wd2nnoaYoBu9NCbwU3zwcTRhz-g-UjeDTtwAxg4jf47TKYlOLm4h9GGaNoDhQd225lDoOS_F-zzZfnRvKbr99VbU69Tx7WMaVfZokKtpOCtVVaZgiurpZUCOd9aY9qtEJa0EZWtCAvFba5LXmLH0Upp8wV7unodEW0m73rjz5vrGfkvfYlVyg</recordid><startdate>2000</startdate><enddate>2000</enddate><creator>Solteiro Pires, E.J.</creator><creator>Tenreiro Machado, J.A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2000</creationdate><title>A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles</title><author>Solteiro Pires, E.J. ; Tenreiro Machado, J.A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i174t-f9b69075421cb5b5a615b74b42011dbaacd22be7a29b9e0651b378180f10b44b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2000</creationdate><topic>Actuators</topic><topic>Genetic algorithms</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Motion planning</topic><topic>Path planning</topic><topic>Process planning</topic><topic>Robots</topic><topic>Torque</topic><topic>Trajectory</topic><toplevel>online_resources</toplevel><creatorcontrib>Solteiro Pires, E.J.</creatorcontrib><creatorcontrib>Tenreiro Machado, J.A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Solteiro Pires, E.J.</au><au>Tenreiro Machado, J.A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles</atitle><btitle>Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)</btitle><stitle>CEC</stitle><date>2000</date><risdate>2000</risdate><volume>2</volume><spage>1110</spage><epage>1116 vol.2</epage><pages>1110-1116 vol.2</pages><isbn>9780780363755</isbn><isbn>0780363752</isbn><abstract>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.</abstract><pub>IEEE</pub><doi>10.1109/CEC.2000.870771</doi><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier ISBN: 9780780363755
ispartof Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512), 2000, Vol.2, p.1110-1116 vol.2
issn
language eng
recordid cdi_ieee_primary_870771
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Actuators
Genetic algorithms
Kinematics
Manipulators
Motion planning
Path planning
Process planning
Robots
Torque
Trajectory
title A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-29T10%3A18%3A19IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=A%20GA%20perspective%20of%20the%20energy%20requirements%20for%20manipulators%20maneuvering%20in%20a%20workspace%20with%20obstacles&rft.btitle=Proceedings%20of%20the%202000%20Congress%20on%20Evolutionary%20Computation.%20CEC00%20(Cat.%20No.00TH8512)&rft.au=Solteiro%20Pires,%20E.J.&rft.date=2000&rft.volume=2&rft.spage=1110&rft.epage=1116%20vol.2&rft.pages=1110-1116%20vol.2&rft.isbn=9780780363755&rft.isbn_list=0780363752&rft_id=info:doi/10.1109/CEC.2000.870771&rft_dat=%3Cieee_6IE%3E870771%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=870771&rfr_iscdi=true