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Informations générales |
| Auteur |
Curkovic, Petar; Jerbic, Bojan; Stipancic, Tomislav |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
A high level of autonomy is a prerequisite for
achieving robotic presence in a broad spectrum of work
environments. If there is more than one robot in a given
environment and the workspaces of robots are shared, then
the robots present a dynamic obstacle to each other, which
is a potentially dangerous situation. This paper deals with
the problem of motion planning for two six‐degrees‐offreedom
(DOF) industrial robots whose workspaces
overlap. The planning is based on a novel hall of fame ‐
Pareto‐based co‐evolutionary algorithm. The modification
of the algorithm is directed towards speeding‐up coevolution,
to achieve real‐time implementation in an
industrial robotic system composed of two FANUC
LrMate 200iC robots. The results of the simulation and
implementation show the great potential of the method in
terms of convergence, robustness and time. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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