대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1996년도 하계학술대회 논문집 B
- /
- Pages.1212-1215
- /
- 1996
진화알고리즘을 이용한 로봇 매니퓰레이터 궤적제어 최적화
Optimal Trajectory Control for Robot Manipulator Using Evolutionary Algorithm
- Kim, Kee-Whan (Department of Electrical Engineering PuSan National University) ;
- Park, Jin-Hyun (Department of Electrical Engineering PuSan National University) ;
-
Choi, Young-Kiu
(Department of Electrical Engineering PuSan National University)
- 발행 : 1996.07.22
초록
As usual systems, robot manipulators have also physical constraints for operating. It is a difficult problem that we operate manipulator in the minimal time under these constraints. In this pater, we solve this problem dividing it into two steps. In the first step, we find the minimal time trajectories by optimizing qubic polynomial joint trajectories using evolutionary algorithms. In the second step, we optimize controller for robot manipulator to track precisely trajectories optimized in the previous step.
키워드