Real-Time Trajectory Generation for a Robotic Cooperative System Using Computational Intelligence

چکیده مقاله

In this paper optimal trajectory generation for a system of two cooperative serial manipulators is studied. First the kinematic redundancy problem is explained and the using Pontryagin’s Minimum Principle the optimal path to resolve system redundancy is achieved. For time integration of the equations and solving the two point boundary value problem, a shooting method is employed and the initial values are updated based on Taylor iteration loop. An artificial neural network is designed and trained to find the optimal solution for new desired trajectory

دریافت لینک دانلود مقاله