Motion planning by genetic algorithm for a redundant manipulator using a model of criteria of skilled operators

This paper proposes a motion planning method to cut a three-dimensional work piece by a redundant manipulator with six degrees of freedom. The method applies a genetic algorithm to optimize rotational angles of the end effector on a path. For a fitness function, an evaluation function is defined bas...

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Bibliographic Details
Published inInformation sciences Vol. 102; no. 1; pp. 171 - 186
Main Authors Shibata, Takanori, Abe, Tamotsu, Tanie, Kazuo, Nose, Matsuo
Format Journal Article
LanguageEnglish
Published Elsevier Inc 01.11.1997
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Summary:This paper proposes a motion planning method to cut a three-dimensional work piece by a redundant manipulator with six degrees of freedom. The method applies a genetic algorithm to optimize rotational angles of the end effector on a path. For a fitness function, an evaluation function is defined based on references from skilled operators. The proposed method reduces the operators' labor, so that they only have to determine a path without considering redundant parameters. Both simulations and experiments will show the effectiveness of the proposed method.
ISSN:0020-0255
1872-6291
DOI:10.1016/S0020-0255(97)00049-2