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

Detalhes bibliográficos
Autor(a) principal: Nicolini do Patrocinio Nunes, Luiz Eduardo
Data de Publicação: 2011
Outros Autores: Gamarra-Rosado, Victor Orlando [UNESP], Grandinetti, Francisco Jose, Wang, Y., Li, T.
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://hdl.handle.net/11449/196011
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.
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spelling Optimal Trajectory and Solution of the Inverse Kinematics of a Robotic Manipulator by Genetic AlgorithmsRobotic manipulatorOptimal trajectoryGenetic algorithmsInverse kinematicsThis 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.UNITAU Univ Taubate, Dept Mech Engn, BR-12060440 Sao Paulo, BrazilUniv Estadual Paulista, Dept Mech Engn, BR-12516410 Sao Paulo 12516410, BrazilUniv Estadual Paulista, Dept Mech Engn, BR-12516410 Sao Paulo 12516410, BrazilSpringerUNITAU Univ TaubateUniversidade Estadual Paulista (Unesp)Nicolini do Patrocinio Nunes, Luiz EduardoGamarra-Rosado, Victor Orlando [UNESP]Grandinetti, Francisco JoseWang, Y.Li, T.2020-12-10T19:30:24Z2020-12-10T19:30:24Z2011-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject749-+Practical Applications Of Intelligent Systems. Berlin: Springer-verlag Berlin, v. 124, p. 749-+, 2011.1867-5662http://hdl.handle.net/11449/196011WOS:000307258900089Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengPractical Applications Of Intelligent Systemsinfo:eu-repo/semantics/openAccess2024-07-01T20:32:39Zoai:repositorio.unesp.br:11449/196011Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T13:31:45.350553Repositório 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 Patrocinio Nunes, Luiz Eduardo
Robotic manipulator
Optimal trajectory
Genetic algorithms
Inverse kinematics
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 Patrocinio Nunes, Luiz Eduardo
author_facet Nicolini do Patrocinio Nunes, Luiz Eduardo
Gamarra-Rosado, Victor Orlando [UNESP]
Grandinetti, Francisco Jose
Wang, Y.
Li, T.
author_role author
author2 Gamarra-Rosado, Victor Orlando [UNESP]
Grandinetti, Francisco Jose
Wang, Y.
Li, T.
author2_role author
author
author
author
dc.contributor.none.fl_str_mv UNITAU Univ Taubate
Universidade Estadual Paulista (Unesp)
dc.contributor.author.fl_str_mv Nicolini do Patrocinio Nunes, Luiz Eduardo
Gamarra-Rosado, Victor Orlando [UNESP]
Grandinetti, Francisco Jose
Wang, Y.
Li, T.
dc.subject.por.fl_str_mv Robotic manipulator
Optimal trajectory
Genetic algorithms
Inverse kinematics
topic Robotic manipulator
Optimal trajectory
Genetic algorithms
Inverse kinematics
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.
publishDate 2011
dc.date.none.fl_str_mv 2011-01-01
2020-12-10T19:30:24Z
2020-12-10T19:30:24Z
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 Practical Applications Of Intelligent Systems. Berlin: Springer-verlag Berlin, v. 124, p. 749-+, 2011.
1867-5662
http://hdl.handle.net/11449/196011
WOS:000307258900089
identifier_str_mv Practical Applications Of Intelligent Systems. Berlin: Springer-verlag Berlin, v. 124, p. 749-+, 2011.
1867-5662
WOS:000307258900089
url http://hdl.handle.net/11449/196011
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Practical Applications Of Intelligent Systems
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 749-+
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv Web of Science
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_ 1808128242183307264

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