at Google ScholarTitle data
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.
Vol. 20
(2002)
Issue 3
.
- pp. 269-280.
ISSN 0263-5747
DOI: https://doi.org/10.1017/S0263574701003861
Abstract in another language
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.
Further data
| Item Type: | Article in a journal |
|---|---|
| Refereed: | Yes |
| Keywords: | flexible-link robot; genetic algorithms; point-to-point; redundancy; trajectory planning; vibration |
| Institutions of the University: | Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III > Chair Applied Computer Science III - Univ.-Prof. Dr. Dominik Henrich |
| Result of work at the UBT: | No |
| DDC Subjects: | 000 Computer Science, information, general works > 004 Computer science |
| Date Deposited: | 05 Mar 2025 14:04 |
| Last Modified: | 05 Mar 2025 14:04 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/92657 |