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Balamurugan, C.
- Optimal Trajectory and Path Planning of Autonomous Mobile Robot
Abstract Views :189 |
PDF Views:3
Authors
Affiliations
1 J.J. College of Engineering & Technology, Tiruchirapalli, IN
2 Alagappa Chettiyar College of Engineering & Technology, Karaikudi, IN
3 E.G.S. Pillay Engineering College, Nagapattinam, IN
4 M.A.M College of Engineering, Tiruchirapalli
1 J.J. College of Engineering & Technology, Tiruchirapalli, IN
2 Alagappa Chettiyar College of Engineering & Technology, Karaikudi, IN
3 E.G.S. Pillay Engineering College, Nagapattinam, IN
4 M.A.M College of Engineering, Tiruchirapalli
Source
Automation and Autonomous Systems, Vol 3, No 8 (2011), Pagination: 352-358Abstract
In this project optimal trajectory and path planning of mobile robot, which is working in a fixed & moving obstacles area was programmed. The problem has a multi-criterion character in which three objective functions were used. The objectives are optimal trajectory planning in a moving obstacles area, minimum mechanical energy of the actuators and optimal path planning in a fixed obstacle area. Existing algorithms are not able to perform efficiently in the moving obstacles area, it`s not able to select the optimum path, if it`s able to do that means it requires more memory storage and mechanical power. Then it has minimum capability of handling multi tasking problems which is required for practical application. In order to overcome the above drawbacks all the objectives want to be optimized, for that purpose non domination solution is required. So NSGA-2 (non-dominated sorting genetic algorithm-2) is used here to solve that domination problem by calculating the Pareto set values, best non dominated optimal solution is find out by applying it to the real problem best solution is obtained.Keywords
Non Domination Solution,a Multi-Criterion Character.- Evolutionary Path Planning for Industrial Robot Using Intelligent Technique
Abstract Views :217 |
PDF Views:4
Authors
Affiliations
1 Department of Mechanical Engineering, M.A.M. College of Engineering, Tiruchirappalli, IN
2 J.J. College of Engineering & Technology, Tiruchirappalli, IN
3 E.G.S. Pillay Engineering College, Nagapattinam, IN
4 M.A.M College of Engineering, Tiruchirappalli, IN
1 Department of Mechanical Engineering, M.A.M. College of Engineering, Tiruchirappalli, IN
2 J.J. College of Engineering & Technology, Tiruchirappalli, IN
3 E.G.S. Pillay Engineering College, Nagapattinam, IN
4 M.A.M College of Engineering, Tiruchirappalli, IN
Source
Artificial Intelligent Systems and Machine Learning, Vol 3, No 9 (2011), Pagination: 579-587Abstract
Robot manipulators are programmable mechanical system designed to execute a great variety of tasks in repetitive way.In industrial environment, while productivity increases, cause reduction associated with robotic operation and maintenance can be obtained as a result of decreasing the values of dynamic quantities such as torque and jerk, with respect to a specific task. Furthermore,this procedure allows the execution of various tasks that require maximum system performance. By including obstacles avoidance ability to the robot skills, It is possible to improve the robot versatility, i.e., the robot can be used in a variety of operation conditions. In the present contribution, a study concerning the dynamic characteristics of serial robot manipulators is presented. An optimization strategy that considers the obstacle avoidance ability together with the dynamic performance associated with movement of robot is proposed. It results an optimal path planning strategy for a serial manipulator over time varying constrains in the robot workspace. This is achieved by using multi criteria optimization methods and optimal control techniques (NSGA-II). Numerical simulation results illustrate the interest of the proposed methodology and the present techniques can be useful for the design of robot controllers. A comprehensive user-friendly general-purpose software package has been developed using VC++ to obtain the optimal solutions using the proposed algorithms.Keywords
Dynamics of Articulated System, Manipulator Optimal Control, Serial Robot Manipulator.- Evolutionary Optimal Trajectory Planning of an Industrial Robot in the Presence of Moving Obstacles
Abstract Views :149 |
PDF Views:0
Authors
Affiliations
1 Dept. of Mechatronics Engg., Kumaraguru College of Technology, Coimbatore, IN
2 J. J. College of Engg. and Technology, Trichy, IN
3 Dept. of Production Engg., J. J. College of Engg. and Technology, Trichy, IN
1 Dept. of Mechatronics Engg., Kumaraguru College of Technology, Coimbatore, IN
2 J. J. College of Engg. and Technology, Trichy, IN
3 Dept. of Production Engg., J. J. College of Engg. and Technology, Trichy, IN