Optimal motion generation of a flexible macro-micro manipulator system using genetic algorithm and neural network

2006 IEEE Conference on Robotics, Automation and Mechatronics

Volumn , Issue , 2006, Pages

  Yu, Zhang ^a   Zengqi, Sun ^a   Tangwen, Yang ^a  

^a TSINGHUA UNIVERSITY   (China)

Author keywords

Genetic algorithm; Macro micro manipulator; Motion planning; Neural network

Indexed keywords

COMPUTER SIMULATION; ERROR COMPENSATION; GENETIC ALGORITHMS; INVERSE KINEMATICS; MOTION PLANNING; NEURAL NETWORKS;

DISCRETE SOLUTION; FITNESS FUNCTION; MACRO MICRO MANIPULATOR; REDUNDANT SYSTEM; RIGID MANIPULATOR;

MICROMANIPULATORS;

EID: 34547462443     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/RAMECH.2006.252667     Document Type: Conference Paper

References (9)

1. Y. Bestaoui, "An unconstrained optimization approach to the resolution of the inverse kinematics problem of redundant and non-redundant robots," Robotics and Autonomous Systems, vol. 7. pp.37, 1991.
2. R. Featherstone, "Accurate trajectory transformations for redundant and non-redundant robots," in international Conference on Robotics and Automation, (San Diego, California), pp. 8-13, May 1994.
3. M. Ait and A. C. Chevallereau, "Resolution of robot redundancy in the cartesian space by criteria optimization," in IEEE Conference on Robotics and Automation,(Atlanta), pp. 646-651, 1993.
4. R. Mayorga, A.K.C. Wong, and K. S. Ma, "An efficient local approach for the path generation of robot manipulators," Journal of Robotics Systems, vol. 7(1), no. 1, pp. 23-55, 1990.
5. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, "Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy," The International Journal of Robotics Research, vol. 10. No. 4, pp. 410, 1991.
6. H. Seraji and R. Colbaugh, "Improved configuration control for redundant robots," Journal of Robotic Systems, vol.7, no.6, pp. 897-928, 1990.
7. A. Ramdane-Cherif, B. Daachi, A. Benallegue, N. Levy, "Kinematic inversion" Intelligent Robots and System, 2002. IEEE/RSJ International Conference on Volume 2, 30 Sept-5 Oct. 2002 pp.1904-1909 vol.2
8. T. Yoshikawa, K. Hosoda, T. Doi, H. Murakami, "Quasi-static trajectory tracking control of flexible manipulator by macro-micro manipulator system", Robotics and Automation, 1993. Proceedings, 1993 IEEE International Conference on 2-6 May 1993 pp.210-215 vol.3.
9. N. Kubota, T. Arakawa, T. Fukuda, "Motion learning for redundant manipulator with structured intelligence," Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE vol.1, 31 Aug.-4 Sept. 1998 pp.104-109 vol.1