Quasi-Minimum Time Trajectory Planning and Experiments for Prototype Direct-Drive Robot Arm Driven by Stepping Motors Using GA.
Hiroyuki KojimaKengo MotomuraYoshifumi KuwanoKeiichi AbeHajime HosoyaPublished in: Int. J. Autom. Technol. (2010)
Keyphrases
- robot arm
- trajectory planning
- motion planning
- direct drive
- robotic manipulator
- end effector
- degrees of freedom
- inverse kinematics
- genetic algorithm ga
- path planning
- mobile robot
- genetic algorithm
- obstacle avoidance
- multi robot
- humanoid robot
- control law
- fitness function
- multi objective
- dynamic environments
- evolutionary algorithm
- dynamic model
- pose estimation
- position and orientation
- particle swarm optimization
- vision system
- real time