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Multi-objective Genetic Manipulator Trajectory Planner

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Applications of Evolutionary Computing (EvoWorkshops 2004)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 3005))

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Abstract

This paper proposes a multi-objective genetic algorithm to optimize a manipulator trajectory. The planner has several objectives namely the minimization of the space and join arm displacements and the energy required in the trajectory, without colliding with any obstacles in the workspace. Simulations results are presented for robots with two and three degrees of freedom, considering the optimization of two and three objectives.

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Author information

Authors and Affiliations

  1. Dep. de Engenharia Electrotécnica, Quinta de Prados, Universidade de Trás-os-Montes e Alto Douro, 5000–911, Vila Real, Portugal

    Eduardo José Solteiro Pires & Paulo B. de Moura Oliveira

  2. Dep. de Engenharia Electrotécnica, Instituto Superior de Engenharia do Porto, Rua Dr. António Bernadino de Almeida, 4200-072, Porto, Portugal

    José António Tenreiro Machado

Authors
  1. Eduardo José Solteiro Pires
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  2. Paulo B. de Moura Oliveira
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  3. José António Tenreiro Machado
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Editor information

Editors and Affiliations

  1. Institute of Computer Graphics and Algorithms, Vienna University of Technology, Favoritenstraße 9–11/1861, 1040, Vienna, Austria

    Günther R. Raidl

  2. Dipartimento di Ingegneria dell’Informazione, Università di Parma,  

    Stefano Cagnoni

  3. Institute AIFB, University of Karlsruhe, 76128, Karlsruhe, Germany

    Jürgen Branke

  4. School of Mathematical and Computer Science, Heriot-Watt University, EH14 8AS, Edinburgh, UK

    David Wolfe Corne

  5. Institute of Computer Science, University of Bremen, 28359, Bremen, Germany

    Rolf Drechsler

  6. Honda Research Institute Europe GmbH, Offenbach/Main, Germany

    Yaochu Jin

  7. Computing Laboratory, University of Kent, Canterbury, UK

    Colin G. Johnson

  8. CISUC, Department of Informatics Engineering, University of Coimbra, Polo II of the University of Coimbra, 3030, Coimbra, Portugal

    Penousal Machado

  9. ICIS, Radboud University Nijmegen, The Netherlands

    Elena Marchiori

  10. Johannes Gutenberg University, Mainz, Germany

    Franz Rothlauf

  11. School of Computing Sciences, UEA Norwich, University of East Anglia, NR4 7TJ, Norwich, UK

    George D. Smith

  12. Dipartimento di Automatica e Informatica, Politecnico di Torino, Italy

    Giovanni Squillero

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© 2004 Springer-Verlag Berlin Heidelberg

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Pires, E.J.S., de Moura Oliveira, P.B., Machado, J.A.T. (2004). Multi-objective Genetic Manipulator Trajectory Planner. In: Raidl, G.R., et al. Applications of Evolutionary Computing. EvoWorkshops 2004. Lecture Notes in Computer Science, vol 3005. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24653-4_23

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  • DOI: https://doi.org/10.1007/978-3-540-24653-4_23

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-21378-9

  • Online ISBN: 978-3-540-24653-4

  • eBook Packages: Springer Book Archive

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