Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

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dc.contributor.authorNicolini Do Patrocínio Nunes, Luiz Eduardo
dc.contributor.authorGamarra-Rosado, Victor Orlando [UNESP]
dc.contributor.authorGrandinetti, Francisco José
dc.contributor.institutionUNITAU - Univeristy of Taubaté
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2014-05-27T11:26:12Z
dc.date.available2014-05-27T11:26:12Z
dc.date.issued2011-12-01
dc.description.abstractThis paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.en
dc.description.affiliationDepartment of Mechanical Engineering UNITAU - Univeristy of Taubaté, 12060-440, Taubaté, São Paulo
dc.description.affiliationDepartment of Mechanical Engineering UNESP - São Paulo State University, 12516-410 Guaratinguetá, São Paulo
dc.description.affiliationUnespDepartment of Mechanical Engineering UNESP - São Paulo State University, 12516-410 Guaratinguetá, São Paulo
dc.format.extent749-759
dc.identifierhttp://dx.doi.org/10.1007/978-3-642-25658-5_89
dc.identifier.citationAdvances in Intelligent and Soft Computing, v. 124, p. 749-759.
dc.identifier.doi10.1007/978-3-642-25658-5_89
dc.identifier.issn1867-5662
dc.identifier.scopus2-s2.0-84855219861
dc.identifier.urihttp://hdl.handle.net/11449/72829
dc.language.isoeng
dc.relation.ispartofAdvances in Intelligent and Soft Computing
dc.rights.accessRightsAcesso aberto
dc.sourceScopus
dc.subjectGenetic algorithms
dc.subjectInverse kinematics
dc.subjectOptimal trajectory
dc.subjectRobotic manipulator
dc.subjectAngular displacement
dc.subjectComputing cost
dc.subjectInverse kinematics problem
dc.subjectMulti-objective functions
dc.subjectOptimal trajectories
dc.subjectPlanar robotic manipulator
dc.subjectPositioning error
dc.subjectRobotic manipulators
dc.subjectComputer simulation
dc.subjectFlexible manipulators
dc.subjectIntelligent robots
dc.subjectIntelligent systems
dc.subjectInverse problems
dc.subjectKnowledge engineering
dc.subjectOptimization
dc.subjectRobotics
dc.subjectTrajectories
dc.titleOptimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithmsen
dc.typeTrabalho apresentado em evento
dcterms.licensehttp://www.springer.com/open+access/authors+rights
unesp.campusUniversidade Estadual Paulista (Unesp), Faculdade de Engenharia, Guaratinguetápt

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