Pareto Optimality and Multiobjective Trajectory Planning for a 7-DOF Redundant Manipulator
نویسندگان
چکیده
منابع مشابه
Time-jerk optimal trajectory planning of a 7-DOF redundant robot
In order to improve the efficiency and smoothness of a robot and reduce its vibration, an algorithm called the augmented Lagrange constrained particle swarm optimization (ALCPSO), which combines constrained particle swarm optimization with the augmented Lagrange multiplier method to realize time-jerk (defined as the derivative of the acceleration) optimal trajectory planning is proposed. Kinema...
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1 ISSN 1729‐8806, pp. 1‐10 Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm Jingguo Wang1, Yangmin Li1,2 and Xinhua Zhao2 1Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau Av. Padre Tomás Pereira, Taipa, Macao SAR, China 2School of Mechanical Engineering, Tianjin University of Technology, Tian...
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Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2010
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2010.2068650