DocumentCode
2444211
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
Volume
2
fYear
2000
fDate
2000
Firstpage
1110
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Evolutionary Computation, 2000. Proceedings of the 2000 Congress on
Conference_Location
La Jolla, CA
Print_ISBN
0-7803-6375-2
Type
conf
DOI
10.1109/CEC.2000.870771
Filename
870771
Link To Document