Inverse Kinematic Multiobjective Optimization For A Vehicle-Arm Robot System Using Evolutionary Algorithms

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Humberto Rodríguez
Ilka Banfield
Enviado: Nov 27, 2018
Publicado: Nov 26, 2018

Resumen

This work is aimed at discussing the solution of the inverse kinematic problem using Multi- Objective Evolutionary Algorithms (MOEA) for a vehicle-arm redundant robot. A simplified 5 DoF model was used to simulate the problem and the objective functions were properly selected assuming underwater operation. In addition, we present a review of the most important techniques used for solving the inverse kinematic problem, focusing at the end on the application of a Non-Dominated, Sorting, Elitist MOEA with nonlinear constraints.

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Cómo citar
Rodríguez, H., & Banfield, I. (2018). Inverse Kinematic Multiobjective Optimization For A Vehicle-Arm Robot System Using Evolutionary Algorithms. Memorias De Congresos UTP, 1(1), 193-200. Recuperado a partir de http://revistas.utp.ac.pa/index.php/memoutp/article/view/1913