Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

Detalhes bibliográficos
Autor(a) principal: Nicolini Do Patrocínio Nunes, Luiz Eduardo
Data de Publicação: 2011
Outros Autores: Gamarra-Rosado, Victor Orlando [UNESP], Grandinetti, Francisco José
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1007/978-3-642-25658-5_89
http://hdl.handle.net/11449/72829
Resumo: 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. © 2011 Springer-Verlag Berlin Heidelberg.
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spelling Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithmsGenetic algorithmsInverse kinematicsOptimal trajectoryRobotic manipulatorAngular displacementComputing costInverse kinematics problemMulti-objective functionsOptimal trajectoriesPlanar robotic manipulatorPositioning errorRobotic manipulatorsComputer simulationFlexible manipulatorsIntelligent robotsIntelligent systemsInverse problemsKnowledge engineeringOptimizationRoboticsTrajectoriesThis 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. © 2011 Springer-Verlag Berlin Heidelberg.Department of Mechanical Engineering UNITAU - Univeristy of Taubaté, 12060-440, Taubaté, São PauloDepartment of Mechanical Engineering UNESP - São Paulo State University, 12516-410 Guaratinguetá, São PauloDepartment of Mechanical Engineering UNESP - São Paulo State University, 12516-410 Guaratinguetá, São PauloUNITAU - Univeristy of TaubatéUniversidade Estadual Paulista (Unesp)Nicolini Do Patrocínio Nunes, Luiz EduardoGamarra-Rosado, Victor Orlando [UNESP]Grandinetti, Francisco José2014-05-27T11:26:12Z2014-05-27T11:26:12Z2011-12-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject749-759http://dx.doi.org/10.1007/978-3-642-25658-5_89Advances in Intelligent and Soft Computing, v. 124, p. 749-759.1867-5662http://hdl.handle.net/11449/7282910.1007/978-3-642-25658-5_892-s2.0-84855219861Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengAdvances in Intelligent and Soft Computinginfo:eu-repo/semantics/openAccess2024-07-01T20:32:39Zoai:repositorio.unesp.br:11449/72829Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T18:39:22.043824Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
title Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
spellingShingle Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
Nicolini Do Patrocínio Nunes, Luiz Eduardo
Genetic algorithms
Inverse kinematics
Optimal trajectory
Robotic manipulator
Angular displacement
Computing cost
Inverse kinematics problem
Multi-objective functions
Optimal trajectories
Planar robotic manipulator
Positioning error
Robotic manipulators
Computer simulation
Flexible manipulators
Intelligent robots
Intelligent systems
Inverse problems
Knowledge engineering
Optimization
Robotics
Trajectories
title_short Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
title_full Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
title_fullStr Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
title_full_unstemmed Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
title_sort Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms
author Nicolini Do Patrocínio Nunes, Luiz Eduardo
author_facet Nicolini Do Patrocínio Nunes, Luiz Eduardo
Gamarra-Rosado, Victor Orlando [UNESP]
Grandinetti, Francisco José
author_role author
author2 Gamarra-Rosado, Victor Orlando [UNESP]
Grandinetti, Francisco José
author2_role author
author
dc.contributor.none.fl_str_mv UNITAU - Univeristy of Taubaté
Universidade Estadual Paulista (Unesp)
dc.contributor.author.fl_str_mv Nicolini Do Patrocínio Nunes, Luiz Eduardo
Gamarra-Rosado, Victor Orlando [UNESP]
Grandinetti, Francisco José
dc.subject.por.fl_str_mv Genetic algorithms
Inverse kinematics
Optimal trajectory
Robotic manipulator
Angular displacement
Computing cost
Inverse kinematics problem
Multi-objective functions
Optimal trajectories
Planar robotic manipulator
Positioning error
Robotic manipulators
Computer simulation
Flexible manipulators
Intelligent robots
Intelligent systems
Inverse problems
Knowledge engineering
Optimization
Robotics
Trajectories
topic Genetic algorithms
Inverse kinematics
Optimal trajectory
Robotic manipulator
Angular displacement
Computing cost
Inverse kinematics problem
Multi-objective functions
Optimal trajectories
Planar robotic manipulator
Positioning error
Robotic manipulators
Computer simulation
Flexible manipulators
Intelligent robots
Intelligent systems
Inverse problems
Knowledge engineering
Optimization
Robotics
Trajectories
description 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. © 2011 Springer-Verlag Berlin Heidelberg.
publishDate 2011
dc.date.none.fl_str_mv 2011-12-01
2014-05-27T11:26:12Z
2014-05-27T11:26:12Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/conferenceObject
format conferenceObject
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.1007/978-3-642-25658-5_89
Advances in Intelligent and Soft Computing, v. 124, p. 749-759.
1867-5662
http://hdl.handle.net/11449/72829
10.1007/978-3-642-25658-5_89
2-s2.0-84855219861
url http://dx.doi.org/10.1007/978-3-642-25658-5_89
http://hdl.handle.net/11449/72829
identifier_str_mv Advances in Intelligent and Soft Computing, v. 124, p. 749-759.
1867-5662
10.1007/978-3-642-25658-5_89
2-s2.0-84855219861
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Advances in Intelligent and Soft Computing
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 749-759
dc.source.none.fl_str_mv Scopus
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
_version_ 1808128961084915712

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