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We introduce an optimization method for the trajectory planning of redundant manipulators which achieve a given task with high efficiency, and apply the method to a wheelchair propulsion problem. A GA is used to optimize the redundant variables of a manipulator. Additionally, the procedure of the method does not use any forward dynamics computation. The effectiveness of the proposed algorithm has been shown by applying the method to wheelchair propulsion.
Robotics, Automation and Mechatronics, 2004 IEEE Conference on (Volume:2 )
Date of Conference: 1-3 Dec. 2004