Title :
Optimal design and configurations of a mobile manipulator using genetic algorithms
Author :
Sakka, S. ; Chocron, O.
Author_Institution :
Lab. de Robotique de Paris, Univ. Paris 6, Velizy-Villacoublay, France
Abstract :
An approach to design and control of mobile manipulators is presented, associating genetic algorithm to multicriteria optimization to generate and value the robots according to the constraints and aims of the task. Then the first step of this approach is detailed, as topologies and configurations of manipulators that can assume position, trajectory, speed or force tasks are studied
Keywords :
collision avoidance; convergence; genetic algorithms; geometry; manipulators; matrix algebra; mobile robots; force task; genetic algorithms; mobile manipulator; multicriteria optimization; optimal configurations; optimal design; position task; speed task; topologies; trajectory task; Algorithm design and analysis; Constraint optimization; Cost function; Design optimization; Genetic algorithms; Manipulators; Merging; Mobile robots; Stability; Topology;
Conference_Titel :
Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on
Conference_Location :
Bordeaux, Paris
Print_ISBN :
0-7803-7222-0
DOI :
10.1109/ROMAN.2001.981913
