Soft-Computing Techniques in the Trajectory Planning of Multirobot Manipulators Systems (Part I)
Fuente:
Redalyc
Guardado en:
| Autor principal: | |
|---|---|
| Formato: | Artículo científico |
| Lenguaje: | en |
| Publicado: |
Instituto Politécnico Nacional
2005
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1876479979031625728 |
|---|---|
| author | Gabriel Villa y Rabasa |
| author_facet | Gabriel Villa y Rabasa |
| contents | Soft-Computing Techniques in the Trajectory Planning of Multirobot Manipulators Systems (Part I) Gabriel Villa y Rabasa Luis Armando Flores Herrera Juan Alejandro Flores Campos Emmanuel Alejandro Merchán Cruz Guillermo Urriolagoitia Calderón Luis Héctor Hernández Gómez Ingeniería soft multiple robotics computing fuzzy logic This work is the first of a series of two articles on theapplication of soft-computing techniques for the trajectoryplanning of multi-robotic systems. In this first article themotion planning problem of robot manipulators and theparticular case of Multi-movers are defined. A briefintroduction of the basic elements of soft-computing is given,and the applicability of such elements for the trajectoryplanning problem of robot manipulators is discussed. Also,the artificial potential field method is presented for themodelling and characterization of obstacles and as a mean ofdriving a planner towards the desired goal. A geneticalgorithm (GA) based path is presented to illustrate theapplicability of such techniques for the path planning in a2D space and a global path planner for planar robotmanipulators is developed based on GA optimisationconsidering static obstacles. 2005 artículo científico 1665-0654 https://www.redalyc.org/articulo.oa?id=61490406 en http://www.redalyc.org/revista.oa?id=614 Científica application/pdf Instituto Politécnico Nacional Científica (México) Num.4 Vol.9 |
| format | Artículo científico |
| id | redalyc_61490406 |
| institution | Redalyc |
| language | en |
| publishDate | 2005 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | Soft-Computing Techniques in the Trajectory Planning of Multirobot Manipulators Systems (Part I) Gabriel Villa y Rabasa Ingeniería soft multiple robotics computing fuzzy logic Soft-Computing Techniques in the Trajectory Planning of Multirobot Manipulators Systems (Part I) Gabriel Villa y Rabasa Luis Armando Flores Herrera Juan Alejandro Flores Campos Emmanuel Alejandro Merchán Cruz Guillermo Urriolagoitia Calderón Luis Héctor Hernández Gómez Ingeniería soft multiple robotics computing fuzzy logic This work is the first of a series of two articles on theapplication of soft-computing techniques for the trajectoryplanning of multi-robotic systems. In this first article themotion planning problem of robot manipulators and theparticular case of Multi-movers are defined. A briefintroduction of the basic elements of soft-computing is given,and the applicability of such elements for the trajectoryplanning problem of robot manipulators is discussed. Also,the artificial potential field method is presented for themodelling and characterization of obstacles and as a mean ofdriving a planner towards the desired goal. A geneticalgorithm (GA) based path is presented to illustrate theapplicability of such techniques for the path planning in a2D space and a global path planner for planar robotmanipulators is developed based on GA optimisationconsidering static obstacles. 2005 artículo científico 1665-0654 https://www.redalyc.org/articulo.oa?id=61490406 en http://www.redalyc.org/revista.oa?id=614 Científica application/pdf Instituto Politécnico Nacional Científica (México) Num.4 Vol.9 |
| title | Soft-Computing Techniques in the Trajectory Planning of Multirobot Manipulators Systems (Part I) |
| topic | Ingeniería soft multiple robotics computing fuzzy logic |
| url | https://www.redalyc.org/articulo.oa?id=61490406 |