Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

被引：0

作者：

Cea-Montufar, C. E. ^{[1
]}

Merchan-Cruz, E. A. ^{[2
]}

Ramirez-Gordillo, J. ^{[2
]}

Vergara-Hernandez, E. ^{[1
]}

Cerro-Ramirez, M. A. ^{[2
]}

机构：

[1] Inst Politecn Nacl Hidalgo, Unidad Profes Interdisciplinaria Ingn, Campus Hidalgo, San Agustin, Hgo, Mexico

[2] Inst Politecn Nacl, ESIME Unidad Azcapotzalco, Secc Estudios Posgrad & Invest, Mexico City, DF, Mexico

来源：

2018 IEEE LATIN AMERICAN CONFERENCE ON COMPUTATIONAL INTELLIGENCE (LA-CCI) | 2018年

关键词：

path planning; dual quaternion; multi-objective genetic algorithm; robot manipulator;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a path planning strategy for robotic manipulators based on genetic algorithms and dual quaternions, designing a multi-objective function that allow trajectories be planned in an obstacle-free space and singularity-free kinematic restrictions for robotic manipulators as an optimization problem satisfying position and orientation conditions.

引用

页数：6

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