Evolutionary minimum cost trajectory planning for industrial robots

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 52, Issue 1, 2008, Pages 45-77

  Saravanan, R ^a   Ramabalan, S ^b  

^a KUMARAGURU COLLEGE OF TECHNOLOGY   (India)

^b J J COLLEGE OF ENGINEERING AND TECHNOLOGY   (India)

Author keywords

DE; Evolutionary techniques NSGA II; Obstacle avoidance; Optimal cost trajectory planning; Pick and place operation; STANFORD robot; Two link planar robot

Indexed keywords

COMPUTATIONAL COMPLEXITY; CONSTRAINT THEORY; MANIPULATORS; OPTIMIZATION; PARAMETER ESTIMATION;

COMPLEX PROBLEMS; OPTIMAL COST TRAJECTORY PLANNING;

INDUSTRIAL ROBOTS;

EID: 42649116756     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-008-9202-0     Document Type: Article

References (14)

1. Saramago, S.F.P., Steffen, V. Jr.: Optimization of the trajectory planning of robot manipulators taking into account the dynamics of the system. Mech. Mach. Theory. 33, (7), 883-894 (1998)
2. Saramago, S.F.P., Steffen, V. Jr.: Dynamic optimization for the trajectory planning of robot manipulators in the presence of obstacles. J. Brazilian Soc. Mech. Sci. 21, (3), 1-17 (1999)
3. Saramago, S.F.P., Steffen, V. Jr.: Optimal trajectory planning of robot manipulators in the presence of moving obstacles. Mech. Mach. Theory. 35, (8), 1079-1094 (2000)
4. Saramago, S.F.P., Steffen, V.: Trajectory modeling of robot manipulators in the presence of obstacles. J. Optim. Theory Appl. 110, (1), 17-34 (2001)
5. Saramago, S.F.P., Ceccareli, M.: An optimum robot path planning with payload constraints. Robotica. 20, 395-404 (2002)
6. Chettibi, T., Lehtihet, H.E., Haddad, M., Hanchi, S.: Minimum cost trajectory planning for industrial robots. Eur. J. Mech. A, Solids. 23, 703-715 (2004)
7. Aurelio, P.: Global minimum-jerk trajectory planning of robot manipulators. IEEE Trans. Ind. Electron. 47, (1), 140-149 (2000)
8. Gasparetto, A., Zanotto, V.: A new method for smooth trajectory planning of robot manipulators. Mech. Mach. Theory. 42, (4), 455-471 (2007)
9. Elnagar, A., Hussein, A.: On optimal constrained trajectory planning in 3D environments. Robot. Auton. Syst. 33, (4), 195-206 (2000)
10. Lloyd, J.E., Vincent, H.: Singularity-robust trajectory generation. Int. J. Rob. Res. 20, (1), 38-56 (2001)
11. Chih-Jer, L.: Motion planning of redundant robots by perturbation method. Mechatronics. 14, 281-297 (2004)
12. Ata, A.A., Myo, R.T.: Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search. Int. J. Adv. Rob. Syst. 2, 239-244 (2005)
13. Deb, K., Pratap, A., Agarwal, S., Meyarivan, T.: A fast and elitist ultiobjective genetic algorithm: NSGA-II. IEEE Trans. Evol. Comput. 6, (2), 182-197 (2002)
14. Price, K., Storn, R.: Differential evolution - A simple evolution strategy for fast optimization. Dr. Dobb's J. 22, (4), 18-24, 78 (1997)