Real-Time Trajectory Generation for a Robotic Cooperative System Using Computational Intelligence

Saeed Ebrahimi¹ Kambiz Ghaemi Osqouie²

1) Phd student
2) assistant professor at Tehran University - International Campus

Publication : 3rd International Conference On Research Science And Technology(3rstconf.com)
Abstract :
In this paper optimal trajectory generation for a system of two cooperative serial manipulators is studied. First the kinematic redundancy problem is explained and the using Pontryagin’s Minimum Principle the optimal path to resolve system redundancy is achieved. For time integration of the equations and solving the two point boundary value problem, a shooting method is employed and the initial values are updated based on Taylor iteration loop. An artificial neural network is designed and trained to find the optimal solution for new desired trajectory.
Keywords : Cooperative robots Pontryagin’s principle computational intelligence optimization neural network