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Optimal design and configurations of a mobile manipulator using genetic algorithms

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2 Author(s)
Sakka, S. ; Lab. de Robotique de Paris, Univ. Paris 6, Velizy-Villacoublay, France ; Chocron, O.

An approach to design and control of mobile manipulators is presented, associating genetic algorithm to multicriteria optimization to generate and value the robots according to the constraints and aims of the task. Then the first step of this approach is detailed, as topologies and configurations of manipulators that can assume position, trajectory, speed or force tasks are studied

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Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on

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