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dc.contributor.author | ABU-DAKKA, FARES JAWAD MOHD | es_ES |
dc.contributor.author | Valero Chuliá, Francisco José | es_ES |
dc.contributor.author | Suñer Martinez, Josep Lluis | es_ES |
dc.contributor.author | Mata Amela, Vicente | es_ES |
dc.date.accessioned | 2017-05-11T17:54:57Z | |
dc.date.available | 2017-05-11T17:54:57Z | |
dc.date.issued | 2012 | |
dc.identifier.issn | 1590-8844 | |
dc.identifier.uri | http://hdl.handle.net/10251/81012 | |
dc.description.abstract | [EN] This paper presents a new genetic algorithm methodology to obtain a smooth trajectory planning for industrial robots in complex environments. This method aims to gradually create the collision free trajectory as the robot moves. The presented method deals with the uncertainties associated with the unknown of the kinematic properties of intermediate via points since they are generated as the algorithm evolves towards the solution. As well, the objective of this algorithm is to minimize the trajectory time, which guide the robot motion. As an application example, this algorithm is applied over robot Puma 560. Some numerical examples are provided in this paper to evaluate the functionality of the algorithm. | es_ES |
dc.description.sponsorship | This paper has been possible thanks to the funding of Spanish Education, Culture and Sport Ministry by means of the Researching and Technologi Development Project IDEMOV DPI2010-20814-C02-01 | |
dc.language | Inglés | es_ES |
dc.publisher | Pozzo Gros Monti | es_ES |
dc.relation.ispartof | International journal of mechanics and control | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Trajectory planning | es_ES |
dc.subject | Adjacent configurations | es_ES |
dc.subject | Genetic algorithms | es_ES |
dc.subject | Obstacles avoidance | es_ES |
dc.subject.classification | INGENIERIA MECANICA | es_ES |
dc.title | Evolutionary algorithm to solve trajectory planning problem, with robot dynamics considerations | es_ES |
dc.type | Artículo | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2010-20814-C02-01/ES/IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION A LA IDENTIFICACION EN TIEMPO REAL./ | es_ES |
dc.rights.accessRights | Cerrado | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Centro de Investigación en Tecnología de Vehículos - Centre d'Investigació en Tecnologia de Vehicles | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny | es_ES |
dc.description.bibliographicCitation | Abu-Dakka, FJM.; Valero Chuliá, FJ.; Suñer Martinez, JL.; Mata Amela, V. (2012). Evolutionary algorithm to solve trajectory planning problem, with robot dynamics considerations. International journal of mechanics and control. 13(1):15-20. http://hdl.handle.net/10251/81012 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://www.jomac.it/ | es_ES |
dc.description.upvformatpinicio | 15 | es_ES |
dc.description.upvformatpfin | 20 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 13 | es_ES |
dc.description.issue | 1 | es_ES |
dc.relation.senia | 231243 | es_ES |
dc.contributor.funder | Ministerio de Ciencia e Innovación |