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• W2258583639 abstract "This paper presents an optimal path planning for planar hyper redundant robot manipulators in presence of circular obstacles with a new analytical collision avoidance approach. To generate the robot’s trajectory, a dual genetic algorithm for rapid achievement to the optimal solutions in complex space is offered. A polynomial based on cubic spline interpolation is applied to approximate trajectories in joint space. The GA determines the parameters, which are the interior points to be interpolated to formulate the polynomial representing the trajectory, it is to minimize the fitness of the desired objective function. The effectiveness and capability of the proposed approach is demonstrated through simulation studies." @default.
• W2258583639 created "2016-06-24" @default.
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• W2258583639 date "2009-01-01" @default.
• W2258583639 modified "2023-09-28" @default.
• W2258583639 title "A COLLISION-FREE TRAJECTORY PLANNING OF A HYPER REDUNDANT MANIPULATOR USING A DUAL GENETIC ALGORITHM" @default.
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