Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

International Journal of Advanced Robotic Systems

关键词: optimal trajectory;    redundant;    pattern search;    genetic algorithms;   

DOI  :  10.5772/5781

学科分类：自动化工程

来源: InTech

【 摘 要 】

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.

【 授权许可】

CC BY