A multi-objective approach for the motion planning of redundant manipulators
نویسندگان
چکیده
منابع مشابه
A Geometrical Motion Planning Approach For Redundant Planar Manipulators
Abstract: Efficient control of industrial robots is an important factor in the success of industrial automation. Motion planning of robot manipulators is one of the challenging problems encountered in this field. This paper proposes a method for the motion planning of the redundant planar manipulators. The main idea is to find a smooth path consisting of points close enough to each other and ge...
متن کاملA fractional approach for the motion planning of redundant and hyper-redundant manipulators
The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order a to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed...
متن کاملAn Evolutionary Approach for the Motion Planning of Redundant and Hyper-redundant Manipulators
The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for ...
متن کاملAn evolutionary approach for the motion planning of redundant and hyper-redundant manipulators
The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closedloop pseudoinverse method with genetic algorithms, leading to an optimization criterion for r...
متن کاملAn ANN Aproach for the Motion Planning of Redundant Manipulators
In this article an Artificial Neural Network (ANN) approach for the motion planning of redundant robot manipulators is presented. The approach is based on formulating an inverse kinematics problem under an inexact context. This procedure permits to deal with the avoidance of obstacles with an appropriate and easy to compute null space vector; whereas the avoidance of singularities is attained b...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Applied Soft Computing
سال: 2012
ISSN: 1568-4946
DOI: 10.1016/j.asoc.2011.11.006