Point trajectory planning of flexible redundant robot manipulators using genetic algorithms

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dc.citation.volume20
dc.contributor.authorYue, Shigang
dc.contributor.authorHenrich, Dominik
dc.contributor.authorXu, W. L.
dc.contributor.authorTso, S. K.
dc.date.accessioned2008-04-09T22:56:27Z
dc.date.accessioned2016-03-06T22:25:42Z
dc.date.accessioned2016-09-07T13:57:35Z
dc.date.availableNO_RESTRICTIONen_US
dc.date.available2008-04-09T22:56:27Z
dc.date.available2016-03-06T22:25:42Z
dc.date.available2016-09-07T13:57:35Z
dc.date.issued2002
dc.description.abstractThe paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRMs based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable.en_US
dc.identifier.citationYue, S. G., Henrich, D., Xu, W. L., & Tso, S. K. (2002). Point-to-Point trajectory planning of flexible redundant robot manipulators using genetic algorithms. Robotica, 20, 269-280.en_US
dc.identifier.harvestedMassey_Dark
dc.identifier.harvestedMassey_Dark
dc.identifier.issn0263-5747
dc.identifier.urihttp://hdl.handle.net/10179/9683
dc.language.isoenen_US
dc.publisherCambridgeen_US
dc.relation.isbasedonRobotica, 20, 269-280.en_US
dc.relation.isformatofhttp://dx.doi.org/10.1017/S0263574701003861en_US
dc.subjectRedundancyen_US
dc.subjectFlexible-link roboten_US
dc.subjectTrajectory planningen_US
dc.subjectPoint-to-point trajectoryen_US
dc.subjectVibrationen_US
dc.subjectGenetic algorithmsen_US
dc.subject.otherFields of Research::280000 Information, Computing and Communication Sciences::280200 Artificial Intelligence and Signal and Image Processing::280209 Intelligent roboticsen_US
dc.titlePoint trajectory planning of flexible redundant robot manipulators using genetic algorithmsen_US
dc.typeJournal Articleen_US
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