Article ID Journal Published Year Pages File Type
756110 Communications in Nonlinear Science and Numerical Simulation 2009 12 Pages PDF
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.

Related Topics
Physical Sciences and Engineering Engineering Mechanical Engineering
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