Multi-objective genetic manipulator trajectory planner

被引：0
|
作者：
Pires, EJS
Oliveira, PBD
Machado, JAT
机构：
[1] Univ Tras Montes & Alto Douro, Dept Engn Electrotecn, P-5000911 Vial Real, Portugal
[2] Inst Super Engn Porto, Dept Engn Electrotecn, P-4200072 Oporto, Portugal
来源：
APPLICATIONS OF EVOLUTIONARY COMPUTING | 2004年 / 3005卷
关键词：
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper proposes a multi-objective genetic algorithm to optimize a manipulator trajectory. The planner has several objectives namely the minimization of the space and join arm displacements and the energy required in the trajectory, without colliding with any obstacles in the workspace. Simulations results are presented for robots with two and three degrees of freedom, considering the optimization of two and three objectives.
引用
收藏
页码：219 / 229
页数：11
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