基于遗传算法的机器人机械手冗余度求解

Proceedings of 3rd International Symposium on Uncertainty Modeling and Analysis and Annual Conference of the North American Fuzzy Information Processing Society Pub Date : 1995-03-17 DOI:10.1109/ISUMA.1995.527715

K. K. Aydin, E. Kocaoglan

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引用次数: 3

摘要

提出了一种基于遗传算法的基于自运动拓扑知识的机器人冗余度求解方法。所提出的遗传算法可以在关节极限下工作，产生的末端执行器位置误差可以忽略不计。以配置为冗余位置机械手的PUMA 700机器人为例，说明了遗传算法确定的任意解在物理上都是可实现的。

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Genetic algorithm based redundancy resolution of robot manipulators

This paper presents a genetic algorithm based approach to redundancy resolution of robot manipulators using self-motion topology knowledge. The genetic algorithm presented can work under joint limits and produces end-effector positions with negligible error. Any solution determined by the genetic algorithm is physically realizable, as demonstrated on a PUMA 700 robot manipulator which is configured as a redundant positional manipulator.

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Proceedings of 3rd International Symposium on Uncertainty Modeling and Analysis and Annual Conference of the North American Fuzzy Information Processing Society

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