Optimal Trajectory and Solution of the Inverse Kinematics of a Robotic Manipulator by Genetic Algorithms

被引：0
|
作者：
Nicolini do Patrocinio Nunes, Luiz Eduardo [1 ]
Gamarra-Rosado, Victor Orlando [2 ]
Grandinetti, Francisco Jose [1 ]
机构：
[1] UNITAU Univ Taubate, Dept Mech Engn, BR-12060440 Sao Paulo, Brazil
[2] Univ Estadual Paulista, Dept Mech Engn, BR-12516410 Sao Paulo 12516410, Brazil
来源：
PRACTICAL APPLICATIONS OF INTELLIGENT SYSTEMS | 2011年 / 124卷
关键词：
Robotic manipulator; Optimal trajectory; Genetic algorithms; Inverse kinematics;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost.
引用
收藏
页码：749 / +
页数：2
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