Multi-objective genetic algorithms for trajectory optimization of space manipulator

Liu, Zhengxiong; Huang, Panfeng; Yan, Jie; Liu, Gang

doi:10.1109/iciea.2009.5138722

Cited by 13 publications

(6 citation statements)

References 11 publications

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“…Bende et al 18 proposed an energy-optimized trajectory tracking mechanism of an underwater robot. Liu et al 19 studied about the space robot trajectory planning along with multi-objective optimization using genetic algorithms (GAs). The objectives of conducting the study were mechanical energy minimization, disturbance minimization, and traveling time minimization.…”

Section: Introductionmentioning

confidence: 99%

Power-optimized motion planning of reconfigured redundant space robot

Dalla

Pathak

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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Main advantage of redundant space manipulator is that it can be configured differently by actuating various joints. Space manipulators are designed to be deployed in harsh surroundings, which in turn would increase the possibility of manipulator failure. Thus, the enhancement of the capabilities of the robots and the failures thereafter are a major concern. This article presents three aspects of hyper-redundant space robot. First, the control strategies based on minimum power criterion with all healthy joints are proposed. Second, hyper-redundancy is put upon to reconfigure the space robot with the failure of locked joints. Third, the optimization of workplace trajectory of the manipulator is obtained by genetic algorithm and a minimum power criterion has been adopted in all three cases. The bond-graph technique is employed for robot modeling with the use of SYMBOLS Shakti software, which generates system equations in C++ code. This code is subsequently converted into a MATLAB program. The result obtained through simulation shows that 37% of the total power consumption was reduced by the actuators through an optimization approach.

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Section: Introductionmentioning

confidence: 99%

Power-optimized motion planning of reconfigured redundant space robot

Dalla

Pathak

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…In their work, they compare the results obtained by different algorithms. Liu et al [13] considers the planning of a space manipulator taking acount the joint angle, joint velocity and torque constraints. They use a weighted fitness function where the weights are ramdomly selected.…”

Section: Introductionmentioning

confidence: 99%

Multi-criteria Manipulator Trajectory Optimization Based on Evolutionary Algorithms

Pires

Oliveira

Machado

2010

Advances in Intelligent and Soft Computing

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This paper proposes a method, based on a genetic algorithm, to generate smoth manipulator trajectories in a multi-objective perspective. The method uses terms proportional to the integral of the squared displacements in order to eliminate the jerk movement. In this work, the algorithm, based on NSGA-II and maximin sorting schemes, considers manipulators of two, three and four rotational axis (2R, 3R, 4R). The efficiency of the algorithm is evaluated, namely the extension of the front and the dispersion along the front. The effectiveness and capacity of the proposed approach are shown through simulations tests.

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“…A diferencia de la optimización individual, donde se trata de encontrar la mejor solución, la misión de la optimización multi-criterio es encontrar la solución con los menores objetivos en conflicto [9].…”

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Optimización de manipulabilidad y consumo eléctrico mediante el Algoritmo Heurístico de Kalman en manipuladores seriales

Henao

Duque-Muñoz

2015

ing.cienc.

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En el presente trabajo se plantea una metodología de planeación de trayectorias para manipuladores seriales antropomórficos de seis grados de libertad y muñeca esférica enfocada en la minimización del consumo eléctrico y maximización de la manipulabilidad. Para lograr tal fin se expone un algoritmo de optimización el cual tiene como base el Algoritmo Heurístico de Kalman (AHK), cuya finalidad es encontrar la trayectoria óptima según la función multi-objetivo propuesta dentro de un espacio esférico simplificado propuesto. El algoritmo de optimización se evalúa mediante el análisis del comportamiento de dos trayectorias en el manipulador PUMA 560, simuladas en un programa desarrollado en la aplicación de Visual Basic perteneciente al software Autodesk Inventor.

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Multi-objective genetic algorithms for trajectory optimization of space manipulator

Cited by 13 publications

References 11 publications

Power-optimized motion planning of reconfigured redundant space robot

Power-optimized motion planning of reconfigured redundant space robot

Multi-criteria Manipulator Trajectory Optimization Based on Evolutionary Algorithms

Optimización de manipulabilidad y consumo eléctrico mediante el Algoritmo Heurístico de Kalman en manipuladores seriales

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