Dynamic optimization for the trajectory planning of robot manipulators in the presence of obstacles

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/123456789/4361

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DC Field	Value	Language
dc.creator	Saramago Sezimária F. P.	-
dc.creator	Steffen Júnior Valder	-
dc.date	1999	-
dc.date.accessioned	2013-05-30T11:06:18Z	-
dc.date.available	2013-05-30T11:06:18Z	-
dc.date.issued	2013-05-30	-
dc.identifier	http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0100-73861999000300001	-
dc.identifier	http://www.doaj.org/doaj?func=openurl&genre=article&issn=01007386&date=1999&volume=21&issue=3&spage=372	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/jspui/handle/123456789/4361	-
dc.description	This paper presents an approach to the solution of moving a robot manipulator with minimum cost along a specified geometric path in the presence of obstacles. The main idea is to express obstacle avoidance in terms of the distances between potentially colliding parts. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described.	-
dc.publisher	The Brazilian Society of Mechanical Sciences	-
dc.source	Journal of the Brazilian Society of Mechanical Sciences	-
dc.subject	Robot Manipulator	-
dc.subject	Trajectory Planning	-
dc.subject	Obstacle avoidance	-
dc.title	Dynamic optimization for the trajectory planning of robot manipulators in the presence of obstacles	-
Appears in Collections:	Technology and Engineering

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