Result: Multi-objective genetic manipulator trajectory planner
Title:
Multi-objective genetic manipulator trajectory planner
Source:
Applications of evolutionary computing (Coimbra, 5-7 April 2004)Lecture notes in computer science. :219-229
Publisher Information:
Berlin: Springer, 2004.
Publication Year:
2004
Physical Description:
print, 16 ref
Original Material:
INIST-CNRS
Subject Terms:
Computer science, Informatique, Sciences exactes et technologie, Exact sciences and technology, Sciences appliquees, Applied sciences, Informatique; automatique theorique; systemes, Computer science; control theory; systems, Informatique théorique, Theoretical computing, Algorithmique. Calculabilité. Arithmétique ordinateur, Algorithmics. Computability. Computer arithmetics, Algorithme génétique, Genetic algorithm, Algoritmo genético, Algorithme évolutionniste, Evolutionary algorithm, Algoritmo evoluciónista, Bras, Arm, Brazo, Domaine travail, Workspace, Dominio trabajo, Génétique, Genetics, Genética, Manipulateur, Manipulator, Manipulador, Minimisation, Minimization, Minimización, Obstacle, Obstáculo, Optimisation, Optimization, Optimización, Programmation multiobjectif, Multiobjective programming, Programación multiobjetivo, Robotique, Robotics, Robótica, Système 2 degrés liberté, System with two degrees of freedom, Sistema 2 grados libertad, Trajectoire, Trajectory, Trayectoria
Document Type:
Conference
Conference Paper
File Description:
text
Language:
English
Author Affiliations:
Universidade de Trás-os-Montes e Alto Douro, Dep. de Engenharia Electrotécnica, Quinta de Prados, 5000-911 Vila Real, Portugal
Instituto Superior de Engenharia do Porto, Dep. de Engenharia Electrotécnica, Rua Dr. António Bernadino de Almeida, 4200-072 Porto, Portugal
Instituto Superior de Engenharia do Porto, Dep. de Engenharia Electrotécnica, Rua Dr. António Bernadino de Almeida, 4200-072 Porto, Portugal
ISSN:
0302-9743
Rights:
Copyright 2004 INIST-CNRS
CC BY 4.0
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
CC BY 4.0
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
Notes:
Computer science; theoretical automation; systems
Accession Number:
edscal.15735506
Database:
PASCAL Archive
Further Information
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.