Title :
A GA perspective of the energy requirements for manipulators maneuvering in a workspace with obstacles
Author :
Pires, E. J Solteiro ; Machado, J. A Tenreiro
Author_Institution :
Univ. Tras-os-Montes e Alto Douro, Vila Real, Portugal
Abstract :
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 for several redundant and hyper-redundant manipulators
Keywords :
collision avoidance; genetic algorithms; manipulator dynamics; redundant manipulators; actuator energy requirements minimisation; energy requirements; genetic algorithm; hyper-redundant manipulators; obstacles; redundant manipulators; robotic manipulators; trajectory generation; trajectory time evolution ripple minimisation; workspace; Actuators; Genetic algorithms; Kinematics; Manipulators; Motion planning; Path planning; Process planning; Robots; Torque; Trajectory;
Conference_Titel :
Evolutionary Computation, 2000. Proceedings of the 2000 Congress on
Conference_Location :
La Jolla, CA
Print_ISBN :
0-7803-6375-2
DOI :
10.1109/CEC.2000.870771
