Evolutionary indirect approach to solving trajectory planning problem for industrial robots operating in workspaces with obstacles

被引：26
|
作者：
Abu-Dakka, Fares J. [1 ]
Rubio, Francisco [1 ]
Valero, Francisco [1 ]
Mata, Vicente [1 ]
机构：
[1] Univ Politecn Valencia, CITV, Valencia 46022, Spain
来源：
EUROPEAN JOURNAL OF MECHANICS A-SOLIDS | 2013年 / 42卷
关键词：
Trajectory planning; Obstacle avoidance; Genetic algorithms; SIMULTANEOUS ALGORITHM; MANIPULATORS; OPTIMIZATION; ACCOUNT;
D O I：
10.1016/j.euromechsol.2013.05.007
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this paper, an indirect method for trajectory planning for industrial robots has been addressed using an evolutionary algorithm. The algorithm is divided into three stages: (1) The acquisition of Adjacent Configurations (AC) for Path Planning subjected to kinematics, geometric and obstacle avoidance constraints. (2) The acquisition of a collision-free path between initial and goal robot configurations. This path consists of a set of ACs, and (3) The acquisition of a temporal history of the evolution for the robot joint coordinates, by minimizing the required time subjected to actuator limits. This algorithm has been evaluated by comparing the results with the direct procedures proposed by Rubio articles in 2009 and 2010. (C) 2013 Elsevier Masson SAS. All rights reserved.
引用
收藏
页码：210 / 218
页数：9
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