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Path Planning for Grasping Tasks

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Book cover Grasping in Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 10))

Abstract

In this chapter a novel algorithm is formulated and implemented for optimum path planning of parallel manipulators. A multiobjective optimization problem has been formulated for an efficient numerical solution procedure through kinematic and dynamic features of manipulator operation. Computational economy has been obtained by properly using a genetic algorithm to search an optimal solution for path spline functions. Numerical characteristics of the numerical solving procedure have been outlined through a numerical example applied to CaPaMan, Cassino Parallel Manipulator, both for path planning and for design purposes.

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Authors and Affiliations

  1. Federal University of Uberlândia, Av. Joao Naves de Avila, Uberlandia-MG, 2160-38408100, Brazil

    João Carlos Mendes Carvalho & Sezimária F. Pereira Saramago

Authors
  1. João Carlos Mendes Carvalho
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  2. Sezimária F. Pereira Saramago
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Corresponding author

Correspondence to João Carlos Mendes Carvalho .

Editor information

Editors and Affiliations

  1. University of Cassino, Via G. Di Biasio 43, Cassino, 03043, Italy

    Giuseppe Carbone

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Carvalho, J.C.M., Saramago, S.F.P. (2013). Path Planning for Grasping Tasks . In: Carbone, G. (eds) Grasping in Robotics. Mechanisms and Machine Science, vol 10. Springer, London. https://doi.org/10.1007/978-1-4471-4664-3_12

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  • DOI: https://doi.org/10.1007/978-1-4471-4664-3_12

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-4663-6

  • Online ISBN: 978-1-4471-4664-3

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