A Real-Time Optimization for 2R Manipulators


Autoria(s): Pires, E. J. Solteiro; Machado, J. A. Tenreiro; Oliveira, P. B. de Moura
Data(s)

30/11/2015

30/11/2015

2004

Resumo

This work proposes a real-time algorithm to generate a trajectory for a 2 link planar robotic manipulator. The objective is to minimize the space/time ripple and the energy requirements or the time duration in the robot trajectories. The proposed method uses an off line genetic algorithm to calculate every possible trajectory between all cells of the workspace grid. The resultant trajectories are saved in several trees. Then any trajectory requested is constructed in real-time, from these trees. The article presents the results for several experiments.

Identificador

9783935798259

http://hdl.handle.net/10400.22/7034

Idioma(s)

eng

Relação

Intelligent systems at the Service of Mankind;Vol. 1

Direitos

closedAccess

Tipo

bookPart