Structure and trajectory optimization for redundant manipulators
This paper proposes a genetic algorithm to generate a robot structure and the required manipulating trajectories. The objective is to minimize the space/time ripple in the trajectory without colliding with any obstacles in the workspace, while optimizing the mechanical structure.
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| Other Authors: | , |
| Format: | conferenceObject |
| Language: | eng |
| Published: |
2019
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10400.22/13374 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13374 |