运动规划
机器人
计算机科学
控制理论(社会学)
数学优化
弹道
遗传算法
路径(计算)
最优控制
运动学
机械手
作者
O. O. Obe,E. A. Ajayi,O. O. Odewale
出处
期刊:International journal of emerging trends in engineering research
[The World Academy of Research in Science and Engineering]
日期:2020-08-01
标识
DOI:10.30534/ijeter/2020/13082020
摘要
This research work focuses on finding an optimal trajectory
for a robot manipulator taking into consideration the
dynamics constraints of the manipulator. A 3–DOF planar
robot was modeled using MATLAB/SIMULINK toolbox. The
simulation of the robot manipulator was carried out using the
Genetic Algorithm to find the optimal trajectory both in the
workspace with and without obstacles. In both cases, the
Genetic Algorithm (GA) generated optimal trajectories. The
results of both environments were also compared. The
increase in the simulation result in an obstacle existence
environment made it possible for optimal trajectory devoid of
collision with any obstacle in the working area. Thereafter,
result comparison was done with a similar work and the GA
method produced a more desired result in terms of execution
time.
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