S. Ramabalan

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A method for computing minimum cost trajectory planning for industrial robot manipulators is presented. The objective function minimizes the cost function with the constraints being joint positions, velocities, jerks and torques by considering dynamic equations of motion. A clamped cubic spline is used to represent the trajectory. This is a non-linear(More)
Keywords: Multi-objective optimal trajectory modeling Obstacle avoidance Elitist non-dominated sorting genetic algorithm (NSGA-II) Multi-objective differential evolution (MODE) a b s t r a c t Optimal trajectory planning for robot manipulators is always a hot spot in research fields of robotics. This paper presents two new novel general methods for(More)
Force balancing is a very important issue in mechanism design and has only recently been introduced to the designing step of robotic mechanisms. In creating the best robot design, the statical balancing plays a vital role because it reduces the required motor power. To get a simple and more-effective control system, elimination or significant reduction of(More)
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