PRESENTING A NEW METHOD FOR INVERSE KINEMATIC SOLUTION AND OPTIMIZATION OF HYPER REDUNDANT MANIPULATOR PERFORMANCE BY GENETIC ALGORITHM

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

DALIL SAFAEI S.; BARAZANDEH FARSHAD

Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Journal of Control Year:2008 | Volume:2 | Issue:1 Page(s): 65-73

Download Full-Text

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Persian Verion

View:

990

Download:

Cites:

Information Journal Paper

Title

PRESENTING A NEW METHOD FOR INVERSE KINEMATIC SOLUTION AND OPTIMIZATION OF HYPER REDUNDANT MANIPULATOR PERFORMANCE BY GENETIC ALGORITHM

Author(s)

DALIL SAFAEI S. | BARAZANDEH FARSHAD | Issue Writer Certificate

Keywords

HYPER REDUNDANT MANIPULATORQ3

CONSTRAINTQ3

OPTIMIZATIONQ3

GENETIC ALGORITHMQ3

Abstract

In this Paper, an efficient and quick method for inverse kinematic solution of hyper-redundant manipulators is presented. In addition, it minimizes the joints' displacement, energy consumption, and actuators torque while the end effecter reaches the target. Due to the flexibility of the GENETIC ALGORITHM, it is capable of handling any number of CONSTRAINTs. At the end, the simulation result is compared with a method based on workspace density function. The advantages of new method are fast, OPTIMIZATION of robot function, handling many CONSTRAINTs, independent of joint design, real time, minimum error and ability to control the direction of reaching the target.

Cites

No record.

References

No record.

Cite

APA: Copy

DALIL SAFAEI, S., & BARAZANDEH, FARSHAD. (2008). PRESENTING A NEW METHOD FOR INVERSE KINEMATIC SOLUTION AND OPTIMIZATION OF HYPER REDUNDANT MANIPULATOR PERFORMANCE BY GENETIC ALGORITHM. JOURNAL OF CONTROL, 2(1), 65-73. SID. https://sid.ir/paper/120929/en

Vancouver: Copy

DALIL SAFAEI S., BARAZANDEH FARSHAD. PRESENTING A NEW METHOD FOR INVERSE KINEMATIC SOLUTION AND OPTIMIZATION OF HYPER REDUNDANT MANIPULATOR PERFORMANCE BY GENETIC ALGORITHM. JOURNAL OF CONTROL[Internet]. 2008;2(1):65-73. Available from: https://sid.ir/paper/120929/en

IEEE: Copy

S. DALIL SAFAEI, and FARSHAD BARAZANDEH, “PRESENTING A NEW METHOD FOR INVERSE KINEMATIC SOLUTION AND OPTIMIZATION OF HYPER REDUNDANT MANIPULATOR PERFORMANCE BY GENETIC ALGORITHM,” JOURNAL OF CONTROL, vol. 2, no. 1, pp. 65–73, 2008, [Online]. Available: https://sid.ir/paper/120929/en

Related Journal Papers