Title :
A trajectory planner for manipulators using genetic algorithms
Author :
Pires, E. J Solteiro ; Machado, J. A Tenreiro
Author_Institution :
Univ. Tras-os-Montes e Alto Douro, Vila Real, Portugal
Abstract :
Proposes a genetic algorithm (GA) to generate trajectories for robotic manipulators. The objective is to minimize the ripple in the time evolution of robot positions and velocities. Moreover, the manipulator is required to reach a predefined goal without colliding with obstacles in the workspace. The article presents the results for several redundant and non-redundant robot manipulators
Keywords :
genetic algorithms; manipulators; path planning; nonredundant robot manipulators; redundant robot manipulators; ripple minimisation; trajectory planner; Control systems; Genetic algorithms; Genetic mutations; Kinematics; Manipulators; Motion planning; Process planning; Robots; Torque; Trajectory;
Conference_Titel :
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Porto
Print_ISBN :
0-7803-5704-3
DOI :
10.1109/ISATP.1999.782953
