Obstacle Avoiding Research on the Manipulator Based on Genetic Algorithm

A method is put forward to avoid obstacles for a robot manipulator. Firstly, the inverse kinematics solutions of manipulator is simplified, based on which the obstacle avoidance path planning of manipulator is transformed into constrained optimization solution problem. Secondly, each joint angle is...

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Bibliographic Details
Published in2011 First International Conference on Instrumentation, Measurement, Computer, Communication and Control pp. 865 - 867
Main Authors Xi Lei-ping, Chen Zi-li, Sun Shao-jie
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2011
Subjects
Collision avoidance
genetic algorithm
Genetic algorithms
inversekinematics
Joints
manipulator
Manipulators
obstacle avoidance
Optimization
Path planning
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Summary:A method is put forward to avoid obstacles for a robot manipulator. Firstly, the inverse kinematics solutions of manipulator is simplified, based on which the obstacle avoidance path planning of manipulator is transformed into constrained optimization solution problem. Secondly, each joint angle is given according to the inverse kinematics solutions of manipulator with genetic algorithm. Collisions between manipulator and obstacle are avoided for each trajectory. Effectiveness of the improved algorithm is verified by simulation.
ISBN:9780769545196
076954519X
DOI:10.1109/IMCCC.2011.218