Trajectory planning for a manipulator with nonlinear Coulomb friction using a dynamically incremental genetic algorithm

@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}
}
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