197 search results - page 1 / 40 » Manipulability Optimization for Trajectory Generation |
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract— In this paper, we present an algorithm for manipulability based trajectory generation for any serial manipulator that has an inverse kinematic model that can obtain all...
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
We propose here to deal with the optimization of velocity profiles of manipulator robots with a minimum time criterion subject to thermal constraints. This paper deals with the r...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration b...
ICRA
2007
IEEE
13 years 10 months ago
2007
IEEE
— This paper addresses the problem of generating optimal joint trajectories for redundant manipulators when multiple criteria are to be considered. A dynamic programming approach...
GECCO
2004
Springer
13 years 10 months ago
2004
Springer
Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non trivial optimization problem. In this paper a multiobjective genetic algorithm i...