Autor(es):
Nunes, Luiz Eduardo Nicolini do Patrocinio ; Gamarra-Rosado, Victor Orlando ; Grandinetti, Francisco José
Data: 2019
Origem: Oasisbr
Assunto(s): Robotic Manipulator; Optimal Trajectory; Genetic Algorithms; Inverse Kinematics; Computer Science, Artificial Intelligence; Computer Science, Theory & Methods; Engineering, Electrical & Electronic; Computer Science; Engineering; Robotic Manipulator; Robotic Manipulator; Optimal Trajectory; Optimal Trajectory; Genetic Algorithms; Genetic Algorithms; Inverse Kinematics; Inverse Kinematics; Computer Science, Artificial Intelligence; Computer Science, Artificial Intelligence; Computer Science, Theory & Methods; Computer Science, Theory & Methods; Engineering, Electrical & Electronic; Engineering, Electrical & Electronic; Computer Science; Computer Science; Engineering; Engineering
Descrição
Made available in DSpace on 2019-09-12T16:53:25Z (GMT). No. of bitstreams: 0 Previous issue date: 2011
This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost.
[Nicolini do Patrocinio Nunes, Luiz Eduardo; Grandinetti, Francisco José] UNITAU Universidade de Taubaté (Unitau), Dept Mech Engn, BR-12060440 Sao Paulo, Brazil
[Gamarra-Rosado, Victor Orlando] Univ Estadual Paulista, Dept Mech Engn, BR-12516410 Sao Paulo 12516410, Brazil
