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Evolutionary algorithm to solve trajectory planning problem, with robot dynamics considerations

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Evolutionary algorithm to solve trajectory planning problem, with robot dynamics considerations

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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


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