DocumentCode
2214382
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
fYear
2001
fDate
2001
Firstpage
268
Lastpage
273
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on
Conference_Location
Bordeaux, Paris
Print_ISBN
0-7803-7222-0
Type
conf
DOI
10.1109/ROMAN.2001.981913
Filename
981913
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