Inverse Kinematic Multiobjective Optimization For A Vehicle-Arm Robot System Using Evolutionary Algorithms
- Authors
- Rodríguez, Humberto; Banfield, Ilka
- Format
- Article
- Status
- publishedVersion
- Description
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.
- Publication Year
- 2018
- Language
- spa
- Topic
- Repository
- RI de Documento Digitales de Acceso Abierto de la UTP
- Get full text
- http://revistas.utp.ac.pa/index.php/memoutp/article/view/1913
http://ridda2.utp.ac.pa/handle/123456789/5667
- Rights
- openAccess
- License
- https://creativecommons.org/licenses/by-nc-sa/4.0/