Minimum Time Motion Planning of the RTX Robot Using an Evolutionary Algorithm
Rana, A.S. and Zalzala, A.M.S.
(1996)
Minimum Time Motion Planning of the RTX Robot Using an Evolutionary Algorithm.
Research Report.
ACSE Research Report 620
.
Department of Automatic Control and Systems Engineering
Abstract
Minimum-time motion planning algorithm for an RTX robot is presented. Two methods are used for minimum-time trajectory planning over pre-specified paths. One of the methods considers kinematics constraints defined by the manufacturers, while other methods consider the full non-linear dynamic model of the robot. An evolutionary algorithm is used to determine the minimum time-paths. It is shown through simulation results that the latter shows a significant improvement over the former in performance.
Metadata
Item Type:
Monograph
Authors/Creators:
Rana, A.S.
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.
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