DocumentCode :
1644046
Title :
Optimum robot manipulator path generation using Differential Evolution
Author :
González, Carla ; Blanco, Dolores ; Moreno, Luis
Author_Institution :
Dept. of Syst. Eng. & Autom., Carlos III Univ. of Madrid, Leganes
fYear :
2009
Firstpage :
3322
Lastpage :
3329
Abstract :
A new evolutionary-based algorithm is proposed to solve the robot manipulator optimal path generation problem. The following scenario is considered: given a learnt joint path describing a robot manipulator simple task in the Cartesian space, an optimal path is calculated when a different initial joint configuration is considered. The optimization problem is formulated as the minimization of both the end-effector pose error and the total joint displacement so as to ensure convergence towards the learnt path and a smooth joint motion. To solve the optimization problem an algorithm based on an evolutionary method called differential evolution (DE) is used. DE is a stochastic direct search optimization method based on the evolution of a candidate solution population in an iterative process of mutation, recombination, and selection. Since the algorithm does not require the use of the Jacobian matrix during the kinematic inversion, singularities problems are overcome. Results on the optimal path generation of a six degrees of freedom robot manipulator are also presented.
Keywords :
evolutionary computation; manipulators; optimisation; stochastic processes; Cartesian space; differential evolution; evolutionary-based algorithm; optimal path generation; robot manipulator; stochastic direct search optimization method; Genetic mutations; Iterative algorithms; Iterative methods; Jacobian matrices; Kinematics; Manipulators; Optimization methods; Orbital robotics; Robots; Stochastic processes;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Evolutionary Computation, 2009. CEC '09. IEEE Congress on
Conference_Location :
Trondheim
Print_ISBN :
978-1-4244-2958-5
Electronic_ISBN :
978-1-4244-2959-2
Type :
conf
DOI :
10.1109/CEC.2009.4983366
Filename :
4983366
Link To Document :
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