Title :
Optimal trajectory planning of redundant manipulators in constrained workspace
Author :
Tian, Lianfang ; Collins, C. ; Chu, Renxin
Author_Institution :
Dept. of Mech. Eng., California Univ., Riverside, CA, USA
fDate :
7/4/2002 12:00:00 AM
Abstract :
A novel genetic algorithm using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on the total displacement of the end-effector, the total angular displacement of all the joints, the uniformity of Cartesian and joint space velocities
Keywords :
genetic algorithms; path planning; redundant manipulators; Cartesian space velocity; constrained workspace; end-effector displacement; evaluation function; floating point representation; genetic algorithm; joint angular displacement; joint space velocity; optimal trajectory planning; redundant manipulator;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:20020516
