Optimal trajectory planning of redundant manipulators in constrained workspace

被引：3

作者：

Tian, LF ^{[1
]}

Collins, C

机构：

[1] Univ Calif Riverside, Dept Mech Engn, Riverside, CA 92521 USA

[2] NINDS, NIH, Bethesda, MD 20892 USA

来源：

ELECTRONICS LETTERS | 2002年 / 38卷 / 14期

关键词：

D O I：

10.1049/el:20020516

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

A novel genetic algorithm using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on the total displacement of the end-effector, the total angular displacement of all the joints, the uniformity of Cartesian and joint space velocities.

引用

页码：762 / 764

页数：3