Power optimization of planar redundant manipulator moving along constrained-end trajectory using hybrid techniques
Optimum trajectory planning for a planar redundant manipulator which consumes minimum power is considered in this paper. The equations of motion for the manipulator are derived in matrix form using Lagrange Equation. Two hybrid optimization algorithms with constrained variables during the search hav...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2017-12-01
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| Series: | Alexandria Engineering Journal |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1110016817300571 |