Anzeige
Erschienen in:
2012 | OriginalPaper | Buchkapitel
Optimal Trajectory and Solution of the Inverse Kinematics of a Robotic Manipulator by Genetic Algorithms
verfasst von : Luiz Eduardo Nicolini do Patrocínio Nunes, Victor Orlando Gamarra-Rosado, Francisco José Grandinetti
Erschienen in: Practical Applications of Intelligent Systems
Verlag: Springer Berlin Heidelberg
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
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.