Multi-objective Genetic Manipulator Trajectory Planner
نویسندگان
چکیده
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.
منابع مشابه
Genetic Trajectory Planner for a Manipulator with Acceleration Parametrization
This paper presents a genetic trajectory planning method of a robot manipulator producing the optimal trajectory between two end points. Genetic algorithm based methods seldom require a priori knowledge of a problem. Furthermore, they do not tend to fall into local optima and proceed toward the global optimum. However, they have di culty in handling equality constraints of trajectory boundary c...
متن کاملMotion Planning of a Planar 3R Manipulator Utilising Fluid Flow Trajectory Generation
A novel approach to perform motion planning on 2 or 3 degrees-of-freedom manipulators utilising a fluid motion planning model is proposed. It is demonstrated that through the introduction of transformations, the conventional trajectory planning problem in the configuration space (C-space) can be efficiently solved from the closed form solution of the fluid motion planner. The proposed motion pl...
متن کاملFractional order dynamics in a GA planner
This work addresses the signal propagation and the fractional-order dynamics during, the evolution of a genetic algorithm (GA), for generating a robot manipulator trajectory. The GA objective is to minimize the trajectory space/time ripple without exceeding the torque requirements. In order to investigate the phenomena involved in the GA population evolution, the mutation is exposed to excitati...
متن کاملAutomated Trajectory Planner of Industrial Robot for Pick-and-Place Task
Industrial robots, due to their great speed, precision and cost‐effectiveness in repetitive tasks, now tend to be used in place of human workers in automated manufacturing systems. In particular, they perform the pick‐and‐place operation, a non‐value‐added activity which at the same time cannot be eliminated. Hence, minimum time is an important consideration for...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کامل