Inverse Kinematic Multiobjective Optimization For A Vehicle-Arm Robot System Using Evolutionary Algorithms
This work is aimed at discussing the solution of the inverse kinematic problem using Multi- Objective Evolutionary Algorithms (MOEA) for a vehicle-arm redundant robot. A simplified 5 DoF model was used to simulate the problem and the objective functions were properly selected assuming underwater ope...
| Autores Principales: | Rodríguez, Humberto, Banfield, Ilka |
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| Formato: | Artículo |
| Idioma: | Español |
| Publicado: |
Universidad Tecnológica de Panamá
2018
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| Acceso en línea: |
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1913 http://ridda2.utp.ac.pa/handle/123456789/5667 |
| Sumario: |
This work is aimed at discussing the solution of the inverse kinematic problem using Multi- Objective Evolutionary Algorithms (MOEA) for a vehicle-arm redundant robot. A simplified 5 DoF model was used to simulate the problem and the objective functions were properly selected assuming underwater operation. In addition, we present a review of the most important techniques used for solving the inverse kinematic problem, focusing at the end on the application of a Non-Dominated, Sorting, Elitist MOEA with nonlinear constraints. |
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