According to the work features and requirements of SCARA robot, a motion trajectory is planed following the request of speed and acceleration at the starting point and termination point. The planning uses the joint spatial method based on genetic-algorithms. The objective function is the moving time and mechanical impact. The target is a high-profile on the joint angles.


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    Title :

    Research on trajectory-planning based on genetic algorithms for SCARA robot


    Contributors:
    Xiong, Jue (author) / Xu, Xiaodong (author) / Zhao, Xiaobao (author) / Pei, Zhongcai (author)


    Publication date :

    2014-08-01


    Size :

    195611 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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