Fuzzy-GA-based trajectory planner for robot manipulators sharing a common workspace

@article{MerchanCruz2006FuzzyGAbasedTP,
  title={Fuzzy-GA-based trajectory planner for robot manipulators sharing a common workspace},
  author={Emmanuel A. Merchan-Cruz and Alan S. Morris},
  journal={IEEE Transactions on Robotics},
  year={2006},
  volume={22},
  pages={613-624}
}
This paper presents a novel fuzzy genetic algorithm (GA) approach to tackling the problem of trajectory planning of two collaborative robot manipulators sharing a common workspace, where the manipulators have to consider each other as a moving obstacle whose trajectory or behaviour is unknown and unpredictable, as each manipulator has individual goals and where both have the same priority. The goals are not restricted to a given set of joint values, but are specified in the workspace as… CONTINUE READING
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