An evolutionary planner for near time-optimal collision-free motion of multi-arm robotic manipulators

1996 ◽  
Author(s):  
A.S. Rana
Keyword(s):  
Robotic Manipulators ◽  
Free Motion ◽  
Time Optimal

Minimum-time optimal control of robotic manipulators based on Hamel’s integrators

Meccanica ◽  
2019 ◽  
Vol 54 (15) ◽  
pp. 2521-2537
Author(s):  
Zhipeng An ◽  
Huibin Wu ◽  
Donghua Shi
Keyword(s):  
Optimal Control ◽  
Robotic Manipulators ◽  
Minimum Time ◽  
Time Optimal Control ◽  
Time Optimal

Near Time-Optimal Collision-Free Motion Planning of Robotic Manipulators Using an Evolutionary Algorithm

Robotica ◽  
1996 ◽  
Vol 14 (6) ◽  
pp. 621-632 ◽  
Author(s):  
A.S. Rana ◽  
A.M.S. Zalzala
Keyword(s):  
Evolutionary Algorithm ◽  
Equations Of Motion ◽  
Optimal Path ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Open Loop ◽  
Time Histories ◽  
Time Optimal ◽  
Time Planning ◽  
Path Modification

A technique for open-loop minimum time planning of time-histories of control torques for robotic manipulators subject to constraints on the control torques using evolutionary algorithm is presented here. Planning is carried out in joint space of the manipulator and the path is represented as a string of via-points connected by cubic spline polynomial functions. Repeated path modification is done by using the evolutionary algorithm to search for a time-optimal path. Time taken to traverse over a particular path is calculated by reducing the dynamic equations of motion over that path in terms of a path parameter and then calculating the time optimal-control over that path.

An Evolutionary Approach to Time-Optimal Control of Robotic Manipulators

2019 ◽  
Vol 99 (2) ◽  
pp. 245-260 ◽  
Author(s):  
Enrico Ferrentino ◽  
Antonio Della Cioppa ◽  
Angelo Marcelli ◽  
Pasquale Chiacchio
Keyword(s):  
Optimal Control ◽  
Robotic Manipulators ◽  
Time Optimal Control ◽  
Evolutionary Approach ◽  
Time Optimal
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