DocumentCode :
3633307
Title :
Genetic algorithm based redundancy resolution of robot manipulators
Author :
K.K. Aydin;E. Kocaoglan
Author_Institution :
Dept. of Ind. Eng., Middle East Tech. Univ., Ankara, Turkey
fYear :
1995
Firstpage :
322
Lastpage :
327
Abstract :
This paper presents a genetic algorithm based approach to redundancy resolution of robot manipulators using self-motion topology knowledge. The genetic algorithm presented can work under joint limits and produces end-effector positions with negligible error. Any solution determined by the genetic algorithm is physically realizable, as demonstrated on a PUMA 700 robot manipulator which is configured as a redundant positional manipulator.
Keywords :
"Genetic algorithms","Manipulators","Kinematics","Redundancy","Topology","Service robots","Industrial engineering","Application software"
Publisher :
ieee
Conference_Titel :
Uncertainty Modeling and Analysis, 1995, and Annual Conference of the North American Fuzzy Information Processing Society. Proceedings of ISUMA - NAFIPS ´95., Third International Symposium on
Print_ISBN :
0-8186-7126-2
Type :
conf
DOI :
10.1109/ISUMA.1995.527715
Filename :
527715
Link To Document :
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