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

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
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