An effective robot trajectory planning method using a genetic algorithm

Tian, Lianfang; Collins, Curtis

doi:10.1016/j.mechatronics.2003.10.001

Cited by 160 publications

(66 citation statements)

References 9 publications

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“…The algorithm divided the joint space through a grid, using a 6 th degree polynomial and a binary GA with heuristic search techniques. Another application was proposed by Tian and Collins (2004), adopting a binary GA and a cubic polynomial for the trajectory generation of a 2R manipulator in a workspace containing point obstacles.…”

Section: Trajectory Planning: a Reviewmentioning

confidence: 99%

Multi-Criteria Optimization Manipulator Trajectory Planning

Pires

Oliveira

Machado

2010

Robot Manipulators New Achievements

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Section: Trajectory Planning: a Reviewmentioning

confidence: 99%

Multi-Criteria Optimization Manipulator Trajectory Planning

Pires

Oliveira

Machado

2010

Robot Manipulators New Achievements

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“…An efficient method for trajectory planning using GA was developed [11]. In this work, GA concepts were utilized for choosing the polynomial coefficients to generate the optimal trajectory.…”

Section: Past Workmentioning

confidence: 99%

“…The three path points used including pick and place points are {(38,11,0,4) c1 , (37,11,0,4) The trajectories for various joints are generated using the 4 th order trigonometric spline with minimizing jerk as objective function. The trajectories of hook points of the two robots in Cartesian space are determined using forward kinematics equations.…”

Section: Cooperative Manipulator Problemmentioning

confidence: 99%

Spline Based Trajectory Planning for Cooperative Crane Lifts

Bhaskar¹,

Babu²,

Varghese³

2006

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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This paper reports the work done towards planning the trajectory for cooperative crane lifts. The location of the hook points between the pick and place positions are determined using a path-planner. These are inputs to the trajectory planner. The goal of the trajectory planner is to connect all the path-points while ensuring the overshoots, velocities, accelerations and jerk for each degree of freedom to be within acceptable limits for the system. A number of alternate techniques are available for defining the trajectory between the path-points. This paper reports on the evaluation of algebraic and trigonometric splines for trajectory planning. Splines of various orders were initially evaluated for a single joint. This evaluation found that 4 th order trigonometric splines were most appropriate. Hence, this was applied to a lift problem involving the 2x4 DOF cooperative manipulator system and the results are presented.

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“…That is, to cross the greatest amount of previously unknown space within a limited amount of actions. This method is chosen due to the difficulty in programming specific strategies to follow for the diverse conditions and environments which the robot can be faced with [6]. This type of method can be used in the construction and/or update of maps based on limited sensor information for tasks like cleaning floors as is done by the ROOMBA robot [9,10].…”

Section: Introductionmentioning

confidence: 99%