Abstract
This paper proposes a method, based on a genetic algorithm, to generate smoth manipulator trajectories in a multi-objective perspective. The method uses terms proportional to the integral of the squared displacements in order to eliminate the jerk movement. In this work, the algorithm, based on NSGA-II and maximin sorting schemes, considers manipulators of two, three and four rotational axis (2R, 3R, 4R). The efficiency of the algorithm is evaluated, namely the extension of the front and the dispersion along the front. The effectiveness and capacity of the proposed approach are shown through simulations tests.
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Pires, E.J.S., de Moura Oliveira, P.B., Machado, J.A.T. (2010). Multi-criteria Manipulator Trajectory Optimization Based on Evolutionary Algorithms. In: Corchado, E., Novais, P., Analide, C., Sedano, J. (eds) Soft Computing Models in Industrial and Environmental Applications, 5th International Workshop (SOCO 2010). Advances in Intelligent and Soft Computing, vol 73. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13161-5_12
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DOI: https://doi.org/10.1007/978-3-642-13161-5_12
Publisher Name: Springer, Berlin, Heidelberg
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