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Yue, Shigang ; Henrich, Dominik ; Xu, W. L. ; Tso, S. K.:
Point-to-Point Trajectory Planning of Flexible Redundant Robot Manipulators Using Genetic Algorithms.
In: Robotica.
Bd. 20
(2002)
Heft 3
.
- S. 269-280.
ISSN 0263-5747
DOI: https://doi.org/10.1017/S0263574701003861
Abstract
The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRMs based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable.
Weitere Angaben
| Publikationsform: | Artikel in einer Zeitschrift |
|---|---|
| Begutachteter Beitrag: | Ja |
| Keywords: | flexible-link robot; genetic algorithms; point-to-point; redundancy; trajectory planning; vibration |
| Institutionen der Universität: | Fakultäten > Fakultät für Mathematik, Physik und Informatik > Institut für Informatik > Lehrstuhl Angewandte Informatik III > Lehrstuhl Angewandte Informatik III - Univ.-Prof. Dr. Dominik Henrich |
| Titel an der UBT entstanden: | Nein |
| Themengebiete aus DDC: | 000 Informatik,Informationswissenschaft, allgemeine Werke > 004 Informatik |
| Eingestellt am: | 05 Mär 2025 14:04 |
| Letzte Änderung: | 05 Mär 2025 14:04 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/92657 |