Microimmune Algorithm for Solving Inverse Kinematics of Redundant Robots (CROSBI ID 601415)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Glumac, Slaven ; Kovačić, Zdenko
engleski
Microimmune Algorithm for Solving Inverse Kinematics of Redundant Robots
A microimmune optimization algorithm presented in this paper was considered for solving inverse kinematics of a redundant robotic arm. For this purpose, a multiobjective criterion was defined to compare performances of microimmune and microgenetic algorithms. Multiobjective optimization was used to determine a set of best algorithms, and the microimmune algorithm proved superior in solving a selected optimization problem. The assessment of time needed for algorithms to solve the inverse kinematics problem on-line was made based on the tests carried out on a low-cost microcontroller.
optimization algorithm ; microimmune algorithm ; inverse kinematics ; real time execution
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Podaci o prilogu
201-207.
2013.
objavljeno
Podaci o matičnoj publikaciji
Manchester: CPS (Conference Publishing Services)
978-0-7695-5154-8
Podaci o skupu
2013 IEEE International Conference on Systems, Man, and Cybernetics
predavanje
13.10.2013-16.10.2013
Manchester, Ujedinjeno Kraljevstvo