Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
756110 | Communications in Nonlinear Science and Numerical Simulation | 2009 | 12 Pages |
Abstract
The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. The results are compared with a genetic algorithm that adopts the direct kinematics. In both cases the trajectory planning is formulated as an optimization problem with constraints.
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Authors
Maria da Graça Marcos, J.A. Tenreiro Machado, T.-P. Azevedo-Perdicoúlis,