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Title of Journal: Nonlinear Dyn

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Abbravation: Nonlinear Dynamics

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Springer Netherlands

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DOI

10.1002/mrmp.22419910112

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1573-269X

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An evolutionary approach for the motion planning o

Authors: Maria da Graça Marcos J A Tenreiro Machado TP AzevedoPerdicoúlis
Publish Date: 2009/12/09
Volume: 60, Issue: 1-2, Pages: 115-129
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Abstract

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed The pseudoinverse control is not repeatable causing drift in joint space which is undesirable for physical control This paper presents a new technique that combines the closedloop pseudoinverse method with genetic algorithms leading to an optimization criterion for repeatable control of redundant manipulators and avoiding the joint angle drift problem Computer simulations performed based on redundant and hyperredundant planar manipulators show that when the endeffector traces a closed path in the workspace the robot returns to its initial configuration The solution is repeatable for a workspace with and without obstacles in the sense that after executing several cycles the initial and final states of the manipulator are very close

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