Computer graphics: a programming approach, 2nd ed.
Computer graphics: a programming approach, 2nd ed.
Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Adaptation in natural and artificial systems
Adaptation in natural and artificial systems
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Principles of Optimal Design
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An algorithm for Cartesian trajectory generation by redundant robots inenvironments with obstacles is presented. The algorithm combines a rasterscanning technique, genetic algorithms and functions for interpolation inthe joint coordinates space in order to approximate a desired Cartesiancurve by the robot’s hand tip under maximum allowed positiondeviation. A raster scanning technique determines a minimal set of knotpoints on the desired curve in order to generate a Cartesian trajectory withbounded position approximation error. Genetic algorithms are used todetermine an acceptable robot configuration under obstacle avoidanceconstraints corresponding to a knot point. Robot motion between twosuccessive knot points is finally achieved using well known interpolationtechniques in the joint coordinates space. The proposed algorithm isanalyzed and its performance is demonstrated through simulated experimentscarried out on planar redundant robots.