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.
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收藏
页数：6
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