Genetic-Based Motion Planning for Articulated Robotic Manipulators

Abstract

This paper is concerned with introducing a genetic-based algorithm for the minimum-time trajectory planning of articulated robotic manipulators. The planning procedure is performed in the configuration space and respects all physical constraints imposed on the manipulator design, including the limits on the torque values applied to the motor of each joint of the arm; consequently, the complete non-linear dynamic robot model is incorporated in the formulation.

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Item Type:	Monograph
Authors/Creators:	Chan, K.K. Zalzala, A.M.S.
Copyright, Publisher and Additional Information:	The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
Dates:	Published: May 1993
Institution:	The University of Sheffield
Academic Units:	The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports
Depositing User:	MRS ALISON THERESA BARNETT
Date Deposited:	12 Jun 2014 08:45
Last Modified:	25 Oct 2016 01:12
Status:	Published
Publisher:	Department of Automatic Control and Systems Engineering
Series Name:	ACSE Research Report 476
Open Archives Initiative ID (OAI ID):	oai:eprints.whiterose.ac.uk:79343

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Genetic-Based Motion Planning for Articulated Robotic Manipulators

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