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Near Time-Optimal Collision-Free Motion Planning of Robotic Manipulators Using an Evolutionary Algorithm

Published online by Cambridge University Press:  09 March 2009

A.S. Rana  and
A.M.S. Zalzala
A.S. Rana
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield SI 3JD (UK)
A.M.S. Zalzala
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield SI 3JD (UK)
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Extract

A technique for open-loop minimum time planning of time-histories of control torques for robotic manipulators subject to constraints on the control torques using evolutionary algorithm is presented here. Planning is carried out in joint space of the manipulator and the path is represented as a string of via-points connected by cubic spline polynomial functions. Repeated path modification is done by using the evolutionary algorithm to search for a time-optimal path. Time taken to traverse over a particular path is calculated by reducing the dynamic equations of motion over that path in terms of a path parameter and then calculating the time optimal-control over that path.

Keywords

Evolutionary algorithmsCollision-free motion planningTime-optimal controlMultiple robotic manipulators.
Type
Research Article
Information
Robotica , Volume 14 , Issue 6 , November 1996 , pp. 621 - 632
Copyright
Copyright © Cambridge University Press 1996

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