## Optimization in robot motion planing

- K Harada
- J Robot Soc Jpn
- 2014

@article{Yokose2016TrajectoryPF, title={Trajectory planning for a manipulator with nonlinear Coulomb friction using a dynamically incremental genetic algorithm}, author={Yoshio Yokose}, journal={Artificial Life and Robotics}, year={2016}, volume={22}, pages={31-35} }

- Published 2016 in Artificial Life and Robotics
DOI:10.1007/s10015-016-0318-1

Global warming and environmental destruction are caused in part by the mass consumption of energy by industries that use robotic manipulators. Hence, there is a need to minimize the energy used for manipulator control systems. It is relatively easy to analytically obtain an optimal solution for a linear system. However, a multi-link manipulator is governed by a nonlinear dynamical equation that is difficult to solve as a two-point boundary value problem. Here, the manipulator angles are… CONTINUE READING