Inverse Kinematic Multiobjective Optimization For A Vehicle-Arm Robot System Using Evolutionary Algorithms
Cargando...
Fecha
Authors
Título de la revista
ISSN de la revista
Título del volumen
Editor
Universidad Tecnológica de Panamá
Resumen
Descripción
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.