DocumentCode
3043240
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
fYear
1999
fDate
1999
Firstpage
163
Lastpage
168
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ISATP.1999.782953
Filename
782953
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