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- W2354285606 abstract "A new multi-objective optimization algorithm was proposed to plan the trajectory of manipulators under more objectives,including time optimal,energy optimal,and smoothness optimal.The high-degree B-spline was adopted to construct a continuous path with controllable start-stop kinematic parameters which guaranteed the motion performance of manipulators.The improved non-dominated sorting genetic algorithm-Ⅱ(INSGA-Ⅱ)was applied to optimize the trajectory of manipulators in order to get a set of Pareto optimal solution aggregate.The algorithm used one-dimensional Logistic mapping to generate the initial populations and infeasibility degree selection to handle the constraints.The results on a six-degree of freedom serial robot manipulator show that high-degree B-spline can get high-degree continuous trajectories.INSGA-II provides an effective approach to do a multi-objective optimal for B-spline and can obtain good distributed Pareto solutions providing more choices for users." @default.
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- W2354285606 date "2012-05-17" @default.
- W2354285606 modified "2023-09-26" @default.
- W2354285606 title "INSGA-II based multi-objective trajectory planning for manipulators" @default.
- W2354285606 doi "https://doi.org/10.3785/j.issn.1008-973x.2012.04.008" @default.
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