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Optimal path planning and torque minimization via genetic algorithm applied to cooperating robotic manipulators

Publication ,  Journal Article
Garg, DP; Kumar, M
Published in: American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
2002

This paper presents the formulation and application of a genetic algorithm based strategy for the determination of an optimal trajectory for a multiple robotic configuration. First, the motivation for multiple robot control and the current state-of-art in the field of cooperating robots are briefly given. This is followed by a discussion of energy minimization techniques in the context of robotics, and finally, the principles of using genetic algorithms as an optimization tool are included. The initial and final position of the end effector are specified. Two cases, one of a single manipulator, and the other of two cooperating manipulators carrying a common payload illustrate the approach proposed. The genetic algorithm identifies the optimal trajectory based on minimum joint torque requirements. The minimization of a suitably defined performance index involving joint torques implies that the trajectory thus obtained requires the least amount of torque.

Duke Scholars

Published In

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Publication Date

2002

Volume

70

Start / End Page

71 / 79

Location

New York, NY, United States

Related Subject Headings

  • Industrial Engineering & Automation
 

Citation

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Garg, D. P., & Kumar, M. (2002). Optimal path planning and torque minimization via genetic algorithm applied to cooperating robotic manipulators. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, 70, 71–79.
Garg, Devendra P., and Manish Kumar. “Optimal path planning and torque minimization via genetic algorithm applied to cooperating robotic manipulators.” American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC 70 (2002): 71–79.
Garg DP, Kumar M. Optimal path planning and torque minimization via genetic algorithm applied to cooperating robotic manipulators. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. 2002;70:71–9.
Garg, Devendra P., and Manish Kumar. “Optimal path planning and torque minimization via genetic algorithm applied to cooperating robotic manipulators.” American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, vol. 70, 2002, pp. 71–79.
Garg DP, Kumar M. Optimal path planning and torque minimization via genetic algorithm applied to cooperating robotic manipulators. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. 2002;70:71–79.

Published In

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Publication Date

2002

Volume

70

Start / End Page

71 / 79

Location

New York, NY, United States

Related Subject Headings

  • Industrial Engineering & Automation