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题名: A genetic methodology for reachability evaluation of manipulators
作者: Liu MY(刘明尧) ; Tan DL(谈大龙) ; Jianhua Wang
作者部门: 机器人学研究室
会议名称: 2004 Fifth World Congress on Intelligent Control and Automation (WCICA)
会议日期: June 15-19, 2004
会议地点: Hangzhou, China
会议主办者: IEEE
会议录: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2004
页码: 4631-4634
收录类别: EI
摘要: In the process of manipulator design, reachability is an essential constrained condition. Because determining reachable position/orientation workspace is very difficult and reachability evaluation is very complicated. According to the concept of distance metrics in configuration space, we defined a distance between a target and a workspace by taking into consideration the position and orientation. If the distance is zero the manipulator can reach this target point. Reachability evaluation can be transformed into a high nonlinear optimization problem. A genetic methodology for reachability evaluation of manipulators is presented. The effectiveness and convergence are ascertained by a simulation example.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8475
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
刘明尧; 谈大龙; Jianhua Wang.A genetic methodology for reachability evaluation of manipulators.见:IEEE .Proceedings of the World Congress on Intelligent Control and Automation (WCICA) ,New York,2004,4631-4634
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