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An algorithm is presented for autonomous motion development with unbounded waveform resolution. Rather than a single optimization in a very large space, memory is built to support incremental improvements; therefore, complexity is balanced by experience. Analogously, human development manages complexity by limiting it during initial learning stages. Motions are represented by cubic spline interpolation;...
The optimal trajectory planning is an important function in a robot control area. Generally, the operating function of manipulators requires the highest performance such as minimum time, minimum energy, and no damage to the system. This paper proposes a minimum time trajectory planning that is clamped with cubic splines and uses Harmony Search (HS) algorithm for solving the optimization problem. Minimum...
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