Point-to-Point trajectory planning of flexible redundant robot manipulators using genetic algorithms
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چکیده
منابع مشابه
Point-to-Point trajectory planning of flexible redundant robot manipulators using genetic algorithms
The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point mot...
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en a manipulator possesses more degrees of freedom than the required to execute a giematics admits an infinite number of solutions, and a criterion to select one of them is dundancy deals with the use of these extra degrees of freedom and is referred to in the Kinematics Genetic algorithms Trajectory planning
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ژورنال
عنوان ژورنال: Robotica
سال: 2002
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574701003861